ParameterFactMetaData.xml

<?xml version='1.0' encoding='UTF-8'?>
<parameters>
  <version>3</version>
  <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>
      <unit>Hertz</unit>
      <min>10</min>
      <max>250</max>
    </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>
      <unit>amp-seconds per radian</unit>
      <decimal>3</decimal>
      <min>0.00</min>
      <max>1.00</max>
    </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>
      <unit>Hertz</unit>
      <decimal>3</decimal>
      <min>0.0</min>
      <max>100.0</max>
    </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>
      <unit>Hz/s</unit>
      <min>5</min>
      <max>1000</max>
    </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>
      <unit>Index</unit>
      <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>
      <unit>µs</unit>
      <min>0</min>
      <max>1000000</max>
    </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>
      <unit>µs</unit>
      <max>1000000</max>
    </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>
      <unit>Amps</unit>
      <decimal>3</decimal>
      <min>1</min>
      <max>80</max>
    </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>
      <unit>RPM/v</unit>
      <min>0</min>
      <max>4000</max>
    </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>henries</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>
      <unit>Poles</unit>
      <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>Ohms</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>
      <unit>Volts</unit>
      <decimal>3</decimal>
      <min>0.01</min>
      <max>1.00</max>
    </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>
      <unit>Volts</unit>
      <decimal>3</decimal>
      <min>0</min>
    </parameter>
  </group>
  <group name="Attitude EKF estimator">
    <parameter default="1e-4" name="EKF_ATT_V3_Q0" type="FLOAT">
      <short_desc>Body angular rate process noise</short_desc>
    </parameter>
    <parameter default="0.08" name="EKF_ATT_V3_Q1" type="FLOAT">
      <short_desc>Body angular acceleration process noise</short_desc>
    </parameter>
    <parameter default="0.009" name="EKF_ATT_V3_Q2" type="FLOAT">
      <short_desc>Acceleration process noise</short_desc>
    </parameter>
    <parameter default="0.005" name="EKF_ATT_V3_Q3" type="FLOAT">
      <short_desc>Magnet field vector process noise</short_desc>
    </parameter>
    <parameter default="0.0008" name="EKF_ATT_V4_R0" type="FLOAT">
      <short_desc>Gyro measurement noise</short_desc>
    </parameter>
    <parameter default="10000.0" name="EKF_ATT_V4_R1" type="FLOAT">
      <short_desc>Accel measurement noise</short_desc>
    </parameter>
    <parameter default="100.0" name="EKF_ATT_V4_R2" type="FLOAT">
      <short_desc>Mag measurement noise</short_desc>
    </parameter>
    <parameter default="0.0018" name="ATT_J11" type="FLOAT">
      <short_desc>Moment of inertia matrix diagonal entry (1, 1)</short_desc>
      <unit>kg*m^2</unit>
    </parameter>
    <parameter default="0.0018" name="ATT_J22" type="FLOAT">
      <short_desc>Moment of inertia matrix diagonal entry (2, 2)</short_desc>
      <unit>kg*m^2</unit>
    </parameter>
    <parameter default="0.0037" name="ATT_J33" type="FLOAT">
      <short_desc>Moment of inertia matrix diagonal entry (3, 3)</short_desc>
      <unit>kg*m^2</unit>
    </parameter>
    <parameter default="0" name="ATT_J_EN" type="INT32">
      <short_desc>Moment of inertia enabled in estimator</short_desc>
      <long_desc>If set to != 0 the moment of inertia will be used in the estimator</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
  </group>
  <group name="Attitude Q estimator">
    <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_MAG" type="FLOAT">
      <short_desc>Complimentary filter magnetometer 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="0.0" 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>degrees</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1" name="ATT_MAG_DECL_A" type="INT32">
      <short_desc>Enable automatic GPS based declination compensation</short_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0" name="ATT_EXT_HDG_M" type="INT32">
      <short_desc>External heading usage mode (from Motion capture/Vision)
Set to 1 to use heading estimate from vision.
Set to 2 to use heading from motion capture</short_desc>
      <min>0</min>
      <max>2</max>
    </parameter>
    <parameter default="2" name="ATT_ACC_COMP" type="INT32">
      <short_desc>Enable acceleration compensation based on GPS
velocity</short_desc>
      <min>1</min>
      <max>2</max>
    </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="0.2" name="ATT_VIBE_THRESH" type="FLOAT">
      <short_desc>Threshold (of RMS) to warn about high vibration levels</short_desc>
      <min>0.01</min>
      <max>10</max>
      <decimal>2</decimal>
    </parameter>
  </group>
  <group name="Battery Calibration">
    <parameter default="3.4" name="BAT_V_EMPTY" type="FLOAT">
      <short_desc>Empty cell voltage</short_desc>
      <long_desc>Defines the voltage where a single cell of the battery is considered empty.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="4.2" name="BAT_V_CHARGED" type="FLOAT">
      <short_desc>Full cell voltage</short_desc>
      <long_desc>Defines the voltage where a single cell of the battery is considered full.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.07" name="BAT_V_LOAD_DROP" type="FLOAT">
      <short_desc>Voltage drop per cell on 100% load</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio and assumes linearity.</long_desc>
      <min>0.0</min>
      <max>1.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="3" name="BAT_N_CELLS" type="INT32">
      <short_desc>Number of cells</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <min>2</min>
      <max>10</max>
      <unit>S</unit>
      <values>
        <value code="11">11S Battery</value>
        <value code="10">10S Battery</value>
        <value code="13">13S Battery</value>
        <value code="12">12S Battery</value>
        <value code="15">15S Battery</value>
        <value code="14">14S Battery</value>
        <value code="16">16S Battery</value>
        <value code="3">3S Battery</value>
        <value code="2">2S Battery</value>
        <value code="5">5S Battery</value>
        <value code="4">4S Battery</value>
        <value code="7">7S Battery</value>
        <value code="6">6S Battery</value>
        <value code="9">9S Battery</value>
        <value code="8">8S Battery</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="BAT_CAPACITY" type="FLOAT">
      <short_desc>Battery capacity</short_desc>
      <long_desc>Defines the capacity of the attached battery.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mA</unit>
      <decimal>0</decimal>
      <increment>50</increment>
    </parameter>
    <parameter default="10000" name="BAT_V_SCALE_IO" type="INT32">
      <short_desc>Scaling factor for battery voltage sensor on PX4IO</short_desc>
      <min>1</min>
      <max>100000</max>
    </parameter>
    <parameter default="-1.0" name="BAT_V_SCALING" type="FLOAT">
      <short_desc>Scaling factor for battery voltage sensor on FMU v2</short_desc>
    </parameter>
    <parameter default="-1.0" name="BAT_C_SCALING" type="FLOAT">
      <short_desc>Scaling factor for battery current sensor</short_desc>
    </parameter>
  </group>
  <group name="Camera trigger">
    <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>milliseconds</unit>
    </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>
    </parameter>
    <parameter default="0.5" 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>
      <unit>milliseconds</unit>
    </parameter>
    <parameter default="0" name="TRIG_MODE" type="INT32">
      <short_desc>Camera trigger mode</short_desc>
      <long_desc>0 disables the trigger, 1 sets it to enabled on command, 2 always on, 3 distance based, 4 distance based enabled on command</long_desc>
      <min>0</min>
      <max>4</max>
    </parameter>
    <parameter default="12" name="TRIG_PINS" type="INT32">
      <short_desc>Camera trigger pin</short_desc>
      <long_desc>Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6)</long_desc>
      <min>1</min>
      <max>123456</max>
    </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>meters</unit>
    </parameter>
  </group>
  <group name="Circuit Breaker">
    <parameter 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>
    </parameter>
    <parameter 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>
    </parameter>
    <parameter default="0" 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>
    </parameter>
    <parameter 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. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>162128</max>
    </parameter>
    <parameter 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. --&gt; The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>121212</max>
    </parameter>
    <parameter 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 enine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>284953</max>
    </parameter>
    <parameter default="240024" name="CBRK_GPSFAIL" type="INT32">
      <short_desc>Circuit breaker for GPS failure detection</short_desc>
      <long_desc>Setting this parameter to 240024 will disable the GPS failure detection. If this check is enabled, then the sensor check will fail if the GPS module is missing. It will also check for excessive signal noise on the GPS receiver and warn the user if detected. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>240024</max>
    </parameter>
    <parameter 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. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>782097</max>
    </parameter>
    <parameter 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>
    </parameter>
  </group>
  <group name="Commander">
    <parameter default="0" name="COM_DL_LOSS_EN" type="INT32">
      <short_desc>Datalink loss mode enabled</short_desc>
      <long_desc>Set to 1 to enable actions triggered when the datalink is lost.</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="1">ON: Datalink failse</value>
        <value code="0">OFF: No Datalink failsafe</value>
      </values>
    </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>0</min>
      <max>30</max>
      <unit>second</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0" name="COM_DL_REG_T" type="INT32">
      <short_desc>Datalink regain time threshold</short_desc>
      <long_desc>After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false</long_desc>
      <min>0</min>
      <max>30</max>
      <unit>second</unit>
      <decimal>1</decimal>
      <increment>0.5</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>
      <decimal>1</decimal>
      <increment>0.05</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>ampere</unit>
      <decimal>2</decimal>
      <increment>1</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>second</unit>
      <decimal>1</decimal>
      <increment>1</increment>
    </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 the rc lost flag is set to true</long_desc>
      <min>0</min>
      <max>35</max>
      <unit>second</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </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>meter</unit>
      <decimal>2</decimal>
      <increment>0.5</increment>
    </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>meter</unit>
      <decimal>2</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="1" name="COM_AUTOS_PAR" type="INT32">
      <short_desc>Autosaving of params</short_desc>
      <long_desc>If not equal to zero the commander will automatically save parameters to persistent storage once changed. Default is on, as the interoperability with currently deployed GCS solutions depends on parameters being sticky. Developers can default it to off.</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="1">Enabled</value>
        <value code="0">Disabled</value>
      </values>
    </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 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="1">Disable RC Input Checks</value>
        <value code="0">RC Transmitter</value>
        <value code="2">Virtual RC by Joystick</value>
      </values>
    </parameter>
    <parameter default="0" name="COM_DISARM_LAND" type="INT32">
      <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 value of zero means that automatic disarming is disabled.</long_desc>
      <min>0</min>
      <max>20</max>
      <unit>second</unit>
      <decimal>0</decimal>
      <increment>1</increment>
    </parameter>
  </group>
  <group name="Data Link Loss">
    <parameter default="120.0" name="NAV_DLL_CH_T" type="FLOAT">
      <short_desc>Comms hold wait time</short_desc>
      <long_desc>The amount of time in seconds the system should wait at the comms hold waypoint</long_desc>
      <min>0.0</min>
      <unit>seconds</unit>
    </parameter>
    <parameter default="-266072120" name="NAV_DLL_CH_LAT" type="INT32">
      <short_desc>Comms hold Lat</short_desc>
      <long_desc>Latitude of comms hold waypoint</long_desc>
      <min>-900000000</min>
      <max>900000000</max>
      <unit>degrees * 1e7</unit>
    </parameter>
    <parameter default="1518453890" name="NAV_DLL_CH_LON" type="INT32">
      <short_desc>Comms hold Lon</short_desc>
      <long_desc>Longitude of comms hold waypoint</long_desc>
      <min>-1800000000</min>
      <max>1800000000</max>
      <unit>degrees * 1e7</unit>
    </parameter>
    <parameter default="600.0" name="NAV_DLL_CH_ALT" type="FLOAT">
      <short_desc>Comms hold alt</short_desc>
      <long_desc>Altitude of comms hold waypoint</long_desc>
      <min>-50</min>
      <max>30000</max>
      <unit>m</unit>
    </parameter>
    <parameter default="120.0" name="NAV_DLL_AH_T" type="FLOAT">
      <short_desc>Airfield hole wait time</short_desc>
      <long_desc>The amount of time in seconds the system should wait at the airfield home waypoint</long_desc>
      <min>0.0</min>
      <unit>seconds</unit>
    </parameter>
    <parameter default="2" name="NAV_DLL_N" type="INT32">
      <short_desc>Number of allowed Datalink timeouts</short_desc>
      <long_desc>After more than this number of data link timeouts the aircraft returns home directly</long_desc>
      <min>0</min>
      <max>1000</max>
    </parameter>
    <parameter default="0" name="NAV_DLL_CHSK" type="INT32">
      <short_desc>Skip comms hold wp</short_desc>
      <long_desc>If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home</long_desc>
      <min>0</min>
      <max>1</max>
    </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>degrees * 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>degrees * 1e7</unit>
    </parameter>
    <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>
    </parameter>
  </group>
  <group name="EKF2">
    <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>
    </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>
    </parameter>
    <parameter default="200" 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>
    </parameter>
    <parameter default="200" 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>
    </parameter>
    <parameter default="21" name="EKF2_GPS_CHECK" type="INT32">
      <short_desc>Integer bitmask controlling GPS checks. 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 : Minimum required GDoP set by EKF2_REQ_GDOP
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 can only be used if the vehciel is stationary during alignment.
6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehciel is stationary during alignment.
7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment.
8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT</short_desc>
      <min>0</min>
      <max>511</max>
      <unit />
    </parameter>
    <parameter default="5.0" name="EKF2_REQ_EPH" type="FLOAT">
      <short_desc>Required EPH to use GPS</short_desc>
      <min>2</min>
      <max>100</max>
      <unit>m</unit>
    </parameter>
    <parameter default="8.0" name="EKF2_REQ_EPV" type="FLOAT">
      <short_desc>Required EPV to use GPS</short_desc>
      <min>2</min>
      <max>100</max>
      <unit>m</unit>
    </parameter>
    <parameter default="1.0" 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>
    </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>
      <unit />
    </parameter>
    <parameter default="2.5" name="EKF2_REQ_GDOP" type="FLOAT">
      <short_desc>Required GDoP to use GPS</short_desc>
      <min>1.5</min>
      <max>5.0</max>
      <unit />
    </parameter>
    <parameter default="0.3" 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>
    </parameter>
    <parameter default="0.5" 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>
    </parameter>
    <parameter default="1.0e-3" name="EKF2_GYR_NOISE" type="FLOAT">
      <short_desc>Rate gyro noise for covariance prediction</short_desc>
      <min>0.0001</min>
      <max>0.01</max>
      <unit>rad/s</unit>
    </parameter>
    <parameter default="0.25" 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/s</unit>
    </parameter>
    <parameter default="7.0e-5" name="EKF2_GYR_B_NOISE" type="FLOAT">
      <short_desc>Process noise for delta angle bias prediction</short_desc>
      <min>0.0</min>
      <max>0.0001</max>
      <unit>rad/s</unit>
    </parameter>
    <parameter default="1.0e-4" name="EKF2_ACC_B_NOISE" type="FLOAT">
      <short_desc>Process noise for delta velocity z bias prediction</short_desc>
      <min>0.0</min>
      <max>0.01</max>
      <unit>m/s/s</unit>
    </parameter>
    <parameter default="3.0e-3" name="EKF2_GYR_S_NOISE" type="FLOAT">
      <short_desc>Process noise for delta angle scale factor prediction</short_desc>
      <min>0.0</min>
      <max>0.01</max>
      <unit>None</unit>
    </parameter>
    <parameter default="2.5e-2" name="EKF2_MAG_B_NOISE" type="FLOAT">
      <short_desc>Process noise for sensor bias and earth magnetic field prediction</short_desc>
      <min>0.0</min>
      <max>0.1</max>
      <unit>Gauss/s</unit>
    </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/s</unit>
    </parameter>
    <parameter default="0.5" 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>
    </parameter>
    <parameter default="1.0" 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>
    </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>
    </parameter>
    <parameter default="3.0" 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>
    </parameter>
    <parameter default="0.17" 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>
    </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>
    </parameter>
    <parameter default="0" name="EKF2_MAG_DECL" type="FLOAT">
      <short_desc>Magnetic declination</short_desc>
      <unit>degrees</unit>
    </parameter>
    <parameter default="3.0" name="EKF2_HDG_GATE" type="FLOAT">
      <short_desc>Gate size for magnetic heading fusion</short_desc>
      <min>1.0</min>
      <unit>SD</unit>
    </parameter>
    <parameter default="3.0" name="EKF2_MAG_GATE" type="FLOAT">
      <short_desc>Gate size for magnetometer XYZ component fusion</short_desc>
      <min>1.0</min>
      <unit>SD</unit>
    </parameter>
    <parameter default="7" name="EKF2_DECL_TYPE" type="INT32">
      <short_desc>Integer bitmask controlling handling of magnetic declination. Set bits to 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 observaton when 3-axis magnetometer fusion is being used</short_desc>
      <min>0</min>
      <max>7</max>
      <unit />
    </parameter>
    <parameter default="0" name="EKF2_MAG_TYPE" type="INT32">
      <short_desc>Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer.
0 : determine the best fusion method to use automatically - heading fusion on-ground and 3-axis fusion in-flight
1 : always use magnetic heading fusion
2 : always use 3-axis fusion
Other values  will disable magnetometer fusion completely</short_desc>
      <min>0</min>
      <max>2</max>
      <unit>None</unit>
    </parameter>
    <parameter default="3.0" name="EKF2_BARO_GATE" type="FLOAT">
      <short_desc>Gate size for barometric height fusion</short_desc>
      <min>1.0</min>
      <unit>SD</unit>
    </parameter>
    <parameter default="3.0" name="EKF2_GPS_P_GATE" type="FLOAT">
      <short_desc>Gate size for GPS horizontal position fusion</short_desc>
      <min>1.0</min>
      <unit>SD</unit>
    </parameter>
    <parameter default="3.0" name="EKF2_GPS_V_GATE" type="FLOAT">
      <short_desc>Gate size for GPS velocity fusion</short_desc>
      <min>1.0</min>
      <unit>SD</unit>
    </parameter>
    <parameter default="0" name="EKF2_REC_RPL" type="INT32">
      <short_desc>A value of 1 indicates that the ekf2 module will publish
replay messages for logging</short_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
  </group>
  <group name="FW Attitude Control">
    <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>seconds</unit>
    </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>seconds</unit>
    </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>
    </parameter>
    <parameter default="0.02" 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>
    </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). Setting a value of zero disables the limit.</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
    </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). Setting a value of zero disables the limit.</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
    </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>
    </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>
    </parameter>
    <parameter default="0.01" 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>
    </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>
    </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). Setting a value of zero disables the limit.</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
    </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>
    </parameter>
    <parameter default="0.0" 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>
    </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>
    </parameter>
    <parameter default="0.0" 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). Setting a value of zero disables the limit.</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
    </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>
    </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>0.0</min>
      <max>50.0</max>
    </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>
    </parameter>
    <parameter default="0.0" 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). Setting a value of zero disables the limit.</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
    </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>
    </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>
    </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>
    </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>
    </parameter>
    <parameter default="1000.0" name="FW_YCO_VMIN" type="FLOAT">
      <short_desc>Minimal speed for yaw coordination</short_desc>
      <long_desc>For airspeeds above this value, the yaw rate is calculated for a coordinated turn. Set to a very high value to disable.</long_desc>
      <unit>m/s</unit>
    </parameter>
    <parameter default="0" name="FW_YCO_METHOD" type="INT32">
      <short_desc>Method used for yaw coordination</short_desc>
      <long_desc>The param value sets the method used to calculate the yaw rate 0: open-loop zero lateral acceleration based on kinematic constraints 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="10.0" name="FW_AIRSPD_MIN" type="FLOAT">
      <short_desc>Minimum Airspeed</short_desc>
      <long_desc>If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively.</long_desc>
      <min>0.0</min>
      <max>40</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="15.0" name="FW_AIRSPD_TRIM" type="FLOAT">
      <short_desc>Trim Airspeed</short_desc>
      <long_desc>The TECS controller tries to fly at this airspeed.</long_desc>
      <min>0.0</min>
      <max>40</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="20.0" name="FW_AIRSPD_MAX" type="FLOAT">
      <short_desc>Maximum Airspeed</short_desc>
      <long_desc>If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively.</long_desc>
      <min>0.0</min>
      <max>40</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="0.0" name="FW_RSP_OFF" type="FLOAT">
      <short_desc>Roll Setpoint Offset</short_desc>
      <long_desc>An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe.</long_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.0" name="FW_PSP_OFF" type="FLOAT">
      <short_desc>Pitch Setpoint Offset</short_desc>
      <long_desc>An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe.</long_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </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>
    </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>
    </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>
    </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>
    </parameter>
  </group>
  <group name="Fixed Wing TECS">
    <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>
    </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>
    </parameter>
    <parameter default="5.0" name="FW_T_TIME_CONST" type="FLOAT">
      <short_desc>TECS time constant</short_desc>
      <long_desc>This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.</long_desc>
    </parameter>
    <parameter default="8.0" name="FW_T_THRO_CONST" type="FLOAT">
      <short_desc>TECS Throttle time constant</short_desc>
      <long_desc>This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.</long_desc>
    </parameter>
    <parameter default="0.5" 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>
    </parameter>
    <parameter default="0.1" name="FW_T_INTEG_GAIN" type="FLOAT">
      <short_desc>Integrator gain</short_desc>
      <long_desc>This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot.</long_desc>
    </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 metres/second square) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.</long_desc>
    </parameter>
    <parameter default="3.0" name="FW_T_HGT_OMEGA" type="FLOAT">
      <short_desc>Complementary filter "omega" parameter for height</short_desc>
      <long_desc>This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data.</long_desc>
    </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 arispeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.</long_desc>
    </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>
    </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>
    </parameter>
    <parameter default="0.0" 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>
    </parameter>
    <parameter default="0.05" name="FW_T_HRATE_P" type="FLOAT">
      <short_desc>Height rate P factor</short_desc>
    </parameter>
    <parameter default="0.0" name="FW_T_HRATE_FF" type="FLOAT">
      <short_desc>Height rate FF factor</short_desc>
    </parameter>
    <parameter default="0.02" name="FW_T_SRATE_P" type="FLOAT">
      <short_desc>Speed rate P factor</short_desc>
    </parameter>
  </group>
  <group name="GPS Failure Navigation">
    <parameter default="30.0" name="NAV_GPSF_LT" type="FLOAT">
      <short_desc>Loiter time</short_desc>
      <long_desc>The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination.</long_desc>
      <min>0.0</min>
      <unit>seconds</unit>
    </parameter>
    <parameter default="15.0" name="NAV_GPSF_R" type="FLOAT">
      <short_desc>Open loop loiter roll</short_desc>
      <long_desc>Roll in degrees during the open loop loiter</long_desc>
      <min>0.0</min>
      <max>30.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.0" name="NAV_GPSF_P" type="FLOAT">
      <short_desc>Open loop loiter pitch</short_desc>
      <long_desc>Pitch in degrees during the open loop loiter</long_desc>
      <min>-30.0</min>
      <max>30.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.7" name="NAV_GPSF_TR" type="FLOAT">
      <short_desc>Open loop loiter thrust</short_desc>
      <long_desc>Thrust value which is set during the open loop loiter</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
  </group>
  <group name="Geofence">
    <parameter default="1" name="GF_ACTION" type="INT32">
      <short_desc>Geofence violation action</short_desc>
      <long_desc>0 = none, 1 = warning (default), 2 = loiter, 3 = return to launch, 4 = fight termination</long_desc>
      <min>0</min>
      <max>4</max>
    </parameter>
    <parameter default="0" name="GF_ALTMODE" type="INT32">
      <short_desc>Geofence altitude mode</short_desc>
      <long_desc>Select which altitude reference should be used 0 = WGS84, 1 = AMSL</long_desc>
      <min>0</min>
      <max>1</max>
    </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>
    </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>
    </parameter>
    <parameter default="-1" name="GF_MAX_HOR_DIST" type="INT32">
      <short_desc>Max horizontal distance in meters</short_desc>
      <long_desc>Set to &gt; 0 to activate a geofence action if horizontal distance to home exceeds this value.</long_desc>
      <min>-1</min>
      <unit>meters</unit>
    </parameter>
    <parameter default="-1" name="GF_MAX_VER_DIST" type="INT32">
      <short_desc>Max vertical distance in meters</short_desc>
      <long_desc>Set to &gt; 0 to activate a geofence action if vertical distance to home exceeds this value.</long_desc>
      <min>-1</min>
      <unit>meters</unit>
    </parameter>
  </group>
  <group name="Gimbal">
    <parameter default="0" name="GMB_USE_MNT" type="INT32">
      <short_desc>Consider mount operation mode</short_desc>
      <long_desc>If set to 1, mount mode will be enforced.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0" name="GMB_AUX_MNT_CHN" type="INT32">
      <short_desc>Auxiliary switch to set mount operation mode</short_desc>
      <long_desc>Set to 0 to disable manual mode control. If set to an auxiliary switch: Switch off means the gimbal is put into safe/locked position. Switch on means the gimbal can move freely, and landing gear will be retracted if applicable.</long_desc>
      <min>0</min>
      <max>3</max>
    </parameter>
  </group>
  <group name="L1 Control">
    <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>
    </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>
    </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>
    </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="-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>degrees</unit>
    </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>degrees</unit>
    </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>degrees</unit>
    </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>
    </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>
    </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>
    </parameter>
    <parameter default="1.0" name="FW_THR_LND_MAX" type="FLOAT">
      <short_desc>Throttle limit value before flare</short_desc>
      <long_desc>This throttle value will be set as throttle limit at FW_LND_TLALT, before arcraft will flare.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <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 zero to disable climbout mode (not recommended).</long_desc>
      <min>0.0</min>
      <max>150.0</max>
    </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>2.0</min>
      <max>10.0</max>
    </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>degrees</unit>
    </parameter>
    <parameter default="10.0" name="FW_LND_HVIRT" type="FLOAT">
      <short_desc>FW_LND_HVIRT</short_desc>
    </parameter>
    <parameter default="8.0" 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>meters</unit>
    </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 -1.0f 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>meters</unit>
    </parameter>
    <parameter default="15.0" name="FW_LND_HHDIST" type="FLOAT">
      <short_desc>Landing heading hold horizontal distance</short_desc>
      <min>0</min>
      <max>30.0</max>
      <unit>meters</unit>
    </parameter>
    <parameter default="0" name="FW_LND_USETER" type="INT32">
      <short_desc>Enable or disable usage of terrain estimate during landing</short_desc>
      <long_desc>0: disabled, 1: enabled</long_desc>
    </parameter>
    <parameter default="2.5" name="FW_FLARE_PMIN" type="FLOAT">
      <short_desc>Flare, minimum pitch</short_desc>
      <long_desc>Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</long_desc>
      <min>0</min>
      <max>15.0</max>
      <unit>degrees</unit>
    </parameter>
    <parameter default="15.0" name="FW_FLARE_PMAX" type="FLOAT">
      <short_desc>Flare, maximum pitch</short_desc>
      <long_desc>Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</long_desc>
      <min>0</min>
      <max>45.0</max>
      <unit>degrees</unit>
    </parameter>
    <parameter default="1.3" name="FW_AIRSPD_SCALE" type="FLOAT">
      <short_desc>Landing airspeed scale factor</short_desc>
      <long_desc>Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach.</long_desc>
      <min>1.0</min>
      <max>1.5</max>
    </parameter>
  </group>
  <group name="Land Detector">
    <parameter default="0.70" 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 (m/s up and down)</long_desc>
      <unit>m/s</unit>
    </parameter>
    <parameter default="1.50" 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 (m/s)</long_desc>
      <unit>m/s</unit>
    </parameter>
    <parameter default="20.0" name="LNDMC_ROT_MAX" type="FLOAT">
      <short_desc>Multicopter max rotation</short_desc>
      <long_desc>Maximum allowed around each axis allowed in the landed state (degrees per second)</long_desc>
      <unit>deg/s</unit>
    </parameter>
    <parameter default="0.15" name="LNDMC_THR_MAX" type="FLOAT">
      <short_desc>Multicopter max throttle</short_desc>
      <long_desc>Maximum actuator output on throttle allowed in the landed state</long_desc>
      <min>0.1</min>
      <max>0.5</max>
    </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 (m/s)</long_desc>
      <min>0.5</min>
      <max>10</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="10.0" 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 (m/s up and down)</long_desc>
      <min>5</min>
      <max>20</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="4.0" name="LNDFW_VELI_MAX" type="FLOAT">
      <short_desc>Fixedwing max short-term velocity</short_desc>
      <long_desc>Maximum velocity integral in flight direction allowed in the landed state (m/s)</long_desc>
      <min>2</min>
      <max>10</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="8.00" name="LNDFW_AIRSPD_MAX" type="FLOAT">
      <short_desc>Airspeed max</short_desc>
      <long_desc>Maximum airspeed allowed in the landed state (m/s)</long_desc>
      <min>4</min>
      <max>20</max>
      <unit>m/s</unit>
    </parameter>
  </group>
  <group name="Launch detection">
    <parameter default="0" name="LAUN_ALL_ON" type="INT32">
      <short_desc>Enable launch detection</short_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="30.0" name="LAUN_CAT_A" type="FLOAT">
      <short_desc>Catapult accelerometer threshold</short_desc>
      <long_desc>LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
      <min>0</min>
    </parameter>
    <parameter default="0.05" name="LAUN_CAT_T" type="FLOAT">
      <short_desc>Catapult time threshold</short_desc>
      <long_desc>LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
      <min>0</min>
    </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</min>
      <unit>seconds</unit>
    </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</min>
      <max>45</max>
      <unit>deg</unit>
    </parameter>
  </group>
  <group name="Local Position Estimator">
    <parameter default="1" name="LPE_ENABLED" type="INT32">
      <short_desc>Enable local position estimator</short_desc>
    </parameter>
    <parameter default="1" name="LPE_INTEGRATE" type="INT32">
      <short_desc>Enable accelerometer integration for prediction</short_desc>
    </parameter>
    <parameter default="0.01" name="LPE_FLW_XY" type="FLOAT">
      <short_desc>Optical flow xy standard deviation</short_desc>
      <min>0.01</min>
      <max>1</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0.2" name="LPE_SNR_Z" type="FLOAT">
      <short_desc>Sonar z standard deviation</short_desc>
      <min>0.01</min>
      <max>1</max>
      <unit>m</unit>
    </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>
    </parameter>
    <parameter default="0.0454" name="LPE_ACC_XY" type="FLOAT">
      <short_desc>Accelerometer xy standard deviation</short_desc>
      <long_desc>Data sheet sqrt(Noise power) = 150ug/sqrt(Hz) std dev = (150*9.8*1e-6)*sqrt(1000 Hz) m/s^2 Since accels sampled at 1000 Hz. should be 0.0464</long_desc>
      <min>0.00001</min>
      <max>2</max>
      <unit>m/s^2</unit>
    </parameter>
    <parameter default="0.0454" name="LPE_ACC_Z" type="FLOAT">
      <short_desc>Accelerometer z standard deviation</short_desc>
      <long_desc>(see Accel x comments)</long_desc>
      <min>0.00001</min>
      <max>2</max>
      <unit>m/s^2</unit>
    </parameter>
    <parameter default="1.0" name="LPE_BAR_Z" type="FLOAT">
      <short_desc>Barometric presssure altitude z standard deviation</short_desc>
      <min>0.01</min>
      <max>3</max>
      <unit>m</unit>
    </parameter>
    <parameter default="2.0" name="LPE_GPS_XY" type="FLOAT">
      <short_desc>GPS xy standard deviation</short_desc>
      <min>0.01</min>
      <max>5</max>
      <unit>m</unit>
    </parameter>
    <parameter default="10.0" name="LPE_GPS_Z" type="FLOAT">
      <short_desc>GPS z standard deviation</short_desc>
      <min>0.01</min>
      <max>20</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0.275" name="LPE_GPS_VXY" type="FLOAT">
      <short_desc>GPS xy velocity standard deviation</short_desc>
      <min>0.01</min>
      <max>2</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="0.237" 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>
    </parameter>
    <parameter default="3.0" name="LPE_EPH_MAX" type="FLOAT">
      <short_desc>GPS max eph</short_desc>
      <min>1.0</min>
      <max>5.0</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0.5" name="LPE_VIS_XY" type="FLOAT">
      <short_desc>Vision xy standard deviation</short_desc>
      <min>0.01</min>
      <max>1</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0.5" name="LPE_VIS_Z" type="FLOAT">
      <short_desc>Vision z standard deviation</short_desc>
      <min>0.01</min>
      <max>2</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0" name="LPE_NO_VISION" type="INT32">
      <short_desc>Circuit breaker to disable vision input</short_desc>
      <long_desc>Set to the appropriate key (328754) to disable vision input.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0.05" name="LPE_VIC_P" type="FLOAT">
      <short_desc>Vicon position standard deviation</short_desc>
      <min>0.01</min>
      <max>1</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0.0" name="LPE_PN_P" type="FLOAT">
      <short_desc>Position propagation process noise power (variance*sampling rate)</short_desc>
      <min>0</min>
      <max>1</max>
      <unit>(m/s^2)-s</unit>
    </parameter>
    <parameter default="0.0" name="LPE_PN_V" type="FLOAT">
      <short_desc>Velocity propagation process noise power (variance*sampling rate)</short_desc>
      <min>0</min>
      <max>5</max>
      <unit>(m/s)-s</unit>
    </parameter>
    <parameter default="1e-8" name="LPE_PN_B" type="FLOAT">
      <short_desc>Accel bias propagation process noise power (variance*sampling rate)</short_desc>
      <min>0</min>
      <max>1</max>
      <unit>(m/s)-s</unit>
    </parameter>
    <parameter default="1000.0" name="LPE_BETA_MAX" type="FLOAT">
      <short_desc>Fault detection threshold, for chi-squared dist</short_desc>
      <long_desc>TODO add separate params for 1 dof, 3 dof, and 6 dof beta or false alarm rate in false alarms/hr</long_desc>
      <min>3</min>
      <max>1000</max>
      <unit />
    </parameter>
  </group>
  <group name="MAVLink">
    <parameter default="1" name="MAV_SYS_ID" type="INT32">
      <short_desc>MAVLink system ID</short_desc>
      <min>1</min>
      <max>250</max>
    </parameter>
    <parameter default="1" name="MAV_COMP_ID" type="INT32">
      <short_desc>MAVLink component ID</short_desc>
      <min>1</min>
      <max>250</max>
    </parameter>
    <parameter default="0" name="MAV_RADIO_ID" type="INT32">
      <short_desc>MAVLink Radio ID</short_desc>
      <long_desc>When non-zero the MAVLink app will attempt to configure the 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.</long_desc>
      <min>-1</min>
      <max>240</max>
    </parameter>
    <parameter default="1" name="MAV_TYPE" type="INT32">
      <short_desc>MAVLink airframe type</short_desc>
      <min>1</min>
    </parameter>
    <parameter 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>
    <parameter 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 default="1" name="MAV_TEST_PAR" type="INT32">
      <short_desc>Test parameter</short_desc>
      <long_desc>This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level.</long_desc>
      <min>-1000</min>
      <max>1000</max>
    </parameter>
  </group>
  <group name="MKBLCTRL Testmode">
    <parameter default="0" name="MKBLCTRL_TEST" type="INT32">
      <short_desc>Enables testmode (Identify) of MKBLCTRL Driver</short_desc>
    </parameter>
  </group>
  <group name="Mission">
    <parameter default="2.5" name="MIS_TAKEOFF_ALT" type="FLOAT">
      <short_desc>Take-off altitude</short_desc>
      <long_desc>Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to MIS_TAKEOFF_ALT on takeoff, then go to waypoint.</long_desc>
      <unit>meters</unit>
    </parameter>
    <parameter default="1" name="MIS_ONBOARD_EN" type="INT32">
      <short_desc>Enable persistent onboard mission storage</short_desc>
      <long_desc>When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently.</long_desc>
      <min>0</min>
      <max>1</max>
    </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 current position.</long_desc>
      <min>0</min>
      <max>1000</max>
    </parameter>
    <parameter default="1" name="MIS_ALTMODE" type="INT32">
      <short_desc>Altitude setpoint mode</short_desc>
      <long_desc>0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="1" name="MIS_YAWMODE" type="INT32">
      <short_desc>Multirotor only. Yaw setpoint mode</short_desc>
      <long_desc>0: Set the yaw heading to the yaw value specified for the destination waypoint. 1: Maintain a yaw heading pointing towards the next waypoint. 2: Maintain a yaw heading that always points to the home location. 3: Maintain a yaw heading that always points away from the home location (ie: back always faces home). The values are defined in the enum mission_altitude_mode</long_desc>
      <min>0</min>
      <max>3</max>
    </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 transiton. 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>
    </parameter>
    <parameter default="12.0" name="MIS_YAW_ERR" type="FLOAT">
      <short_desc>Max yaw error in degree needed for waypoint heading acceptance</short_desc>
      <min>0</min>
      <max>90</max>
    </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, loiter, RTL, etc. (fixedwing only).</long_desc>
      <min>25</min>
      <max>1000</max>
      <unit>meter</unit>
    </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.</long_desc>
      <min>0.05</min>
      <max>200.0</max>
      <unit>meter</unit>
    </parameter>
    <parameter default="0" name="NAV_DLL_OBC" type="INT32">
      <short_desc>Set OBC mode for data link loss</short_desc>
      <long_desc>If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0" name="NAV_RCL_OBC" type="INT32">
      <short_desc>Set OBC mode for rc loss</short_desc>
      <long_desc>If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
  </group>
  <group name="Multicopter Attitude Control">
    <parameter default="0.2" name="MC_ROLL_TC" type="FLOAT">
      <short_desc>Roll time constant</short_desc>
      <long_desc>Reduce if the system is too twitchy, increase if the response is too slow and sluggish.</long_desc>
      <min>0.15</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.2" name="MC_PITCH_TC" type="FLOAT">
      <short_desc>Pitch time constant</short_desc>
      <long_desc>Reduce if the system is too twitchy, increase if the response is too slow and sluggish.</long_desc>
      <min>0.15</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</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>8</max>
      <decimal>2</decimal>
      <increment>0.1</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>0.0</min>
      <max>0.5</max>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.05" 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>
      <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="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>10</max>
      <unit>1/s</unit>
      <decimal>2</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>0.0</min>
      <max>0.6</max>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.05" 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>2</decimal>
      <increment>0.01</increment>
    </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="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>
      <unit>1/s</unit>
      <decimal>2</decimal>
      <increment>0.1</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="0.1" 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="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="0.5" name="MC_YAW_FF" type="FLOAT">
      <short_desc>Yaw feed forward</short_desc>
      <long_desc>Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.01</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, has effect for large rotations 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>
    <parameter default="220.0" name="MC_PITCHRATE_MAX" type="FLOAT">
      <short_desc>Max pitch rate</short_desc>
      <long_desc>Limit for pitch rate, has effect for large rotations 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>
    <parameter default="200.0" name="MC_YAWRATE_MAX" type="FLOAT">
      <short_desc>Max yaw rate</short_desc>
      <long_desc>A value of significantly over 120 degrees per second can already lead to mixer saturation.</long_desc>
      <min>0.0</min>
      <max>360.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="45.0" name="MC_YAWRAUTO_MAX" type="FLOAT">
      <short_desc>Max yaw rate in auto mode</short_desc>
      <long_desc>Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. A value of significantly over 60 degrees per second can already lead to mixer saturation. A value of 30 degrees / second is recommended to avoid very audible twitches.</long_desc>
      <min>0.0</min>
      <max>120.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="360.0" name="MC_ACRO_R_MAX" type="FLOAT">
      <short_desc>Max acro roll rate</short_desc>
      <min>0.0</min>
      <max>1000.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="360.0" name="MC_ACRO_P_MAX" type="FLOAT">
      <short_desc>Max acro pitch rate</short_desc>
      <min>0.0</min>
      <max>1000.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="360.0" name="MC_ACRO_Y_MAX" type="FLOAT">
      <short_desc>Max acro yaw rate</short_desc>
      <min>0.0</min>
      <max>1000.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="1.0" name="MC_RATT_TH" type="FLOAT">
      <short_desc>Threshold for Rattitude mode</short_desc>
      <long_desc>Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit />
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="6.0" name="MP_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>
    </parameter>
    <parameter default="0.1" name="MP_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>0.0</min>
    </parameter>
    <parameter default="0.0" name="MP_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>
    </parameter>
    <parameter default="0.002" name="MP_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>
    </parameter>
    <parameter default="6.0" name="MP_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>
      <unit>1/s</unit>
    </parameter>
    <parameter default="0.1" name="MP_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>0.0</min>
    </parameter>
    <parameter default="0.0" name="MP_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>
    </parameter>
    <parameter default="0.002" name="MP_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>
    </parameter>
    <parameter default="2.0" name="MP_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>
      <unit>1/s</unit>
    </parameter>
    <parameter default="0.3" name="MP_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>
    </parameter>
    <parameter default="0.0" name="MP_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>
    </parameter>
    <parameter default="0.0" name="MP_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>
    </parameter>
    <parameter default="0.5" name="MP_YAW_FF" type="FLOAT">
      <short_desc>Yaw feed forward</short_desc>
      <long_desc>Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="60.0" name="MP_YAWRATE_MAX" type="FLOAT">
      <short_desc>Max yaw rate</short_desc>
      <long_desc>Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</long_desc>
      <min>0.0</min>
      <max>360.0</max>
      <unit>deg/s</unit>
    </parameter>
    <parameter default="35.0" name="MP_ACRO_R_MAX" type="FLOAT">
      <short_desc>Max acro roll rate</short_desc>
      <min>0.0</min>
      <max>360.0</max>
      <unit>deg/s</unit>
    </parameter>
    <parameter default="35.0" name="MP_ACRO_P_MAX" type="FLOAT">
      <short_desc>Max acro pitch rate</short_desc>
      <min>0.0</min>
      <max>360.0</max>
      <unit>deg/s</unit>
    </parameter>
    <parameter default="120.0" name="MP_ACRO_Y_MAX" type="FLOAT">
      <short_desc>Max acro yaw rate</short_desc>
      <min>0.0</min>
      <unit>deg/s</unit>
    </parameter>
    <parameter default="35.0" name="MPP_MAN_R_MAX" type="FLOAT">
      <short_desc>Max manual roll</short_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="35.0" name="MPP_MAN_P_MAX" type="FLOAT">
      <short_desc>Max manual pitch</short_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="120.0" name="MPP_MAN_Y_MAX" type="FLOAT">
      <short_desc>Max manual yaw rate</short_desc>
      <min>0.0</min>
      <unit>deg/s</unit>
    </parameter>
  </group>
  <group name="Multicopter Position Control">
    <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>
      <decimal>3</decimal>
    </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 ALTCTL mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed.</long_desc>
      <min>0.2</min>
      <max>0.8</max>
    </parameter>
    <parameter default="0.1" name="MPC_ALTCTL_DZ" type="FLOAT">
      <short_desc>ALTCTL throttle curve breakpoint</short_desc>
      <long_desc>Halfwidth of deadband or reduced sensitivity center portion of curve. This is the halfwidth of the center region of the ALTCTL throttle curve. It extends from center-dz to center+dz.</long_desc>
      <min>0.0</min>
      <max>0.2</max>
    </parameter>
    <parameter default="0.0" name="MPC_ALTCTL_DY" type="FLOAT">
      <short_desc>ALTCTL throttle curve breakpoint height</short_desc>
      <long_desc>Controls the slope of the reduced sensitivity region. This is the height of the ALTCTL throttle curve at center-dz and center+dz.</long_desc>
      <min>0.0</min>
      <max>0.2</max>
    </parameter>
    <parameter default="0.9" name="MPC_THR_MAX" type="FLOAT">
      <short_desc>Maximum thrust in auto thrust control</short_desc>
      <long_desc>Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.</long_desc>
      <min>0.0</min>
      <max>0.95</max>
      <decimal>2</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.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.9" name="MPC_MANTHR_MAX" type="FLOAT">
      <short_desc>Maximum manual thrust</short_desc>
      <long_desc>Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.</long_desc>
      <min>0.0</min>
      <max>1.0</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>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.2" name="MPC_Z_VEL_P" type="FLOAT">
      <short_desc>Proportional gain for vertical velocity error</short_desc>
      <min>0.0</min>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.02" name="MPC_Z_VEL_I" type="FLOAT">
      <short_desc>Integral gain for vertical velocity error</short_desc>
      <long_desc>Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</long_desc>
      <min>0.0</min>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="MPC_Z_VEL_D" type="FLOAT">
      <short_desc>Differential gain for vertical velocity error</short_desc>
      <min>0.0</min>
      <decimal>3</decimal>
    </parameter>
    <parameter default="3.0" name="MPC_Z_VEL_MAX" type="FLOAT">
      <short_desc>Maximum vertical velocity</short_desc>
      <long_desc>Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).</long_desc>
      <min>0.0</min>
      <max>8.0</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.5" name="MPC_Z_FF" type="FLOAT">
      <short_desc>Vertical velocity feed forward</short_desc>
      <long_desc>Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1.0" name="MPC_XY_P" type="FLOAT">
      <short_desc>Proportional gain for horizontal position error</short_desc>
      <min>0.0</min>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.1" name="MPC_XY_VEL_P" type="FLOAT">
      <short_desc>Proportional gain for horizontal velocity error</short_desc>
      <min>0.0</min>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.02" name="MPC_XY_VEL_I" type="FLOAT">
      <short_desc>Integral gain for horizontal velocity error</short_desc>
      <long_desc>Non-zero value allows to resist wind.</long_desc>
      <min>0.0</min>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.01" name="MPC_XY_VEL_D" type="FLOAT">
      <short_desc>Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again</short_desc>
      <min>0.0</min>
      <decimal>3</decimal>
    </parameter>
    <parameter default="5.0" name="MPC_XY_VEL_MAX" type="FLOAT">
      <short_desc>Maximum horizontal velocity</short_desc>
      <long_desc>Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).</long_desc>
      <min>0.0</min>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.5" name="MPC_XY_FF" type="FLOAT">
      <short_desc>Horizontal velocity feed forward</short_desc>
      <long_desc>Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
    </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>0.0</min>
      <max>90.0</max>
      <unit>degree</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>0.0</min>
      <max>90.0</max>
      <unit>degree</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.5" name="MPC_LAND_SPEED" type="FLOAT">
      <short_desc>Landing descend rate</short_desc>
      <min>0.0</min>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="1.5" name="MPC_TKO_SPEED" type="FLOAT">
      <short_desc>Takeoff climb rate</short_desc>
      <min>0.0</min>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="35.0" name="MPC_MAN_R_MAX" type="FLOAT">
      <short_desc>Max manual roll</short_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>degree</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="35.0" name="MPC_MAN_P_MAX" type="FLOAT">
      <short_desc>Max manual pitch</short_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>degree</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="200.0" name="MPC_MAN_Y_MAX" type="FLOAT">
      <short_desc>Max manual yaw rate</short_desc>
      <min>0.0</min>
      <unit>degree / s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.1" name="MPC_HOLD_XY_DZ" type="FLOAT">
      <short_desc>Deadzone of X,Y sticks where position hold is enabled</short_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>%</unit>
      <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>
      <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>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </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>
      <unit>Hz</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="6.0" name="MPC_ACC_HOR_MAX" type="FLOAT">
      <short_desc>Maximum horizonal acceleration in velocity controlled modes</short_desc>
      <min>2.0</min>
      <max>10.0</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.1" name="MPP_THR_MIN" type="FLOAT">
      <short_desc>Minimum thrust</short_desc>
      <long_desc>Minimum vertical thrust. It's recommended to set it &gt; 0 to avoid free fall with zero thrust.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="1.0" name="MPP_THR_MAX" type="FLOAT">
      <short_desc>Maximum thrust</short_desc>
      <long_desc>Limit max allowed thrust.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="1.0" name="MPP_Z_P" type="FLOAT">
      <short_desc>Proportional gain for vertical position error</short_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="0.1" name="MPP_Z_VEL_P" type="FLOAT">
      <short_desc>Proportional gain for vertical velocity error</short_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="0.02" name="MPP_Z_VEL_I" type="FLOAT">
      <short_desc>Integral gain for vertical velocity error</short_desc>
      <long_desc>Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</long_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="0.0" name="MPP_Z_VEL_D" type="FLOAT">
      <short_desc>Differential gain for vertical velocity error</short_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="5.0" name="MPP_Z_VEL_MAX" type="FLOAT">
      <short_desc>Maximum vertical velocity</short_desc>
      <long_desc>Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL).</long_desc>
      <min>0.0</min>
      <unit>m/s</unit>
    </parameter>
    <parameter default="0.5" name="MPP_Z_FF" type="FLOAT">
      <short_desc>Vertical velocity feed forward</short_desc>
      <long_desc>Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="1.0" name="MPP_XY_P" type="FLOAT">
      <short_desc>Proportional gain for horizontal position error</short_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="0.1" name="MPP_XY_VEL_P" type="FLOAT">
      <short_desc>Proportional gain for horizontal velocity error</short_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="0.02" name="MPP_XY_VEL_I" type="FLOAT">
      <short_desc>Integral gain for horizontal velocity error</short_desc>
      <long_desc>Non-zero value allows to resist wind.</long_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="0.01" name="MPP_XY_VEL_D" type="FLOAT">
      <short_desc>Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again</short_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="5.0" name="MPP_XY_VEL_MAX" type="FLOAT">
      <short_desc>Maximum horizontal velocity</short_desc>
      <long_desc>Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).</long_desc>
      <min>0.0</min>
      <unit>m/s</unit>
    </parameter>
    <parameter default="0.5" name="MPP_XY_FF" type="FLOAT">
      <short_desc>Horizontal velocity feed forward</short_desc>
      <long_desc>Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="45.0" name="MPP_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>0.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="15.0" name="MPP_TILTMAX_LND" type="FLOAT">
      <short_desc>Maximum tilt during landing</short_desc>
      <long_desc>Limits maximum tilt angle on landing.</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="1.0" name="MPP_LAND_SPEED" type="FLOAT">
      <short_desc>Landing descend rate</short_desc>
      <min>0.0</min>
      <unit>m/s</unit>
    </parameter>
  </group>
  <group name="PWM Outputs">
    <parameter default="0" name="PWM_AUX_REV1" type="INT32">
      <short_desc>Invert direction of aux output channel 1</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_AUX_REV2" type="INT32">
      <short_desc>Invert direction of aux output channel 2</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_AUX_REV3" type="INT32">
      <short_desc>Invert direction of aux output channel 3</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_AUX_REV4" type="INT32">
      <short_desc>Invert direction of aux output channel 4</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_AUX_REV5" type="INT32">
      <short_desc>Invert direction of aux output channel 5</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_AUX_REV6" type="INT32">
      <short_desc>Invert direction of aux output channel 6</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_MAIN_REV1" type="INT32">
      <short_desc>Invert direction of main output channel 1</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_MAIN_REV2" type="INT32">
      <short_desc>Invert direction of main output channel 2</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_MAIN_REV3" type="INT32">
      <short_desc>Invert direction of main output channel 3</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_MAIN_REV4" type="INT32">
      <short_desc>Invert direction of main output channel 4</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_MAIN_REV5" type="INT32">
      <short_desc>Invert direction of main output channel 5</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_MAIN_REV6" type="INT32">
      <short_desc>Invert direction of main output channel 6</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_MAIN_REV7" type="INT32">
      <short_desc>Invert direction of main output channel 7</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_MAIN_REV8" type="INT32">
      <short_desc>Invert direction of main output channel 8</short_desc>
      <long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_SBUS_MODE" type="INT32">
      <short_desc>Enable S.BUS out</short_desc>
      <long_desc>Set to 1 to enable S.BUS version 1 output instead of RSSI.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="1000" name="PWM_MIN" type="INT32">
      <short_desc>Set the minimum PWM for the MAIN outputs</short_desc>
      <long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for industry default or 900 to increase servo travel.</long_desc>
      <min>800</min>
      <max>1400</max>
      <unit>microseconds</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="2000" name="PWM_MAX" type="INT32">
      <short_desc>Set the maximum PWM for the MAIN outputs</short_desc>
      <long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for industry default or 2100 to increase servo travel.</long_desc>
      <min>1600</min>
      <max>2200</max>
      <unit>microseconds</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="PWM_DISARMED" type="INT32">
      <short_desc>Set the disarmed PWM for MAIN outputs</short_desc>
      <long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. 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>microseconds</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1000" name="PWM_AUX_MIN" type="INT32">
      <short_desc>Set the minimum PWM for the MAIN outputs</short_desc>
      <long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for default or 900 to increase servo travel</long_desc>
      <min>800</min>
      <max>1400</max>
      <unit>microseconds</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="2000" name="PWM_AUX_MAX" type="INT32">
      <short_desc>Set the maximum PWM for the MAIN outputs</short_desc>
      <long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for default or 2100 to increase servo travel</long_desc>
      <min>1600</min>
      <max>2200</max>
      <unit>microseconds</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1000" name="PWM_AUX_DISARMED" type="INT32">
      <short_desc>Set the disarmed PWM for AUX outputs</short_desc>
      <long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. 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>microseconds</unit>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="Payload drop">
    <parameter default="0.03" name="BD_GPROPERTIES" type="FLOAT">
      <short_desc>Ground drag property</short_desc>
      <long_desc>This parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude.</long_desc>
      <min>0.001</min>
      <max>0.1</max>
      <unit>unknown</unit>
    </parameter>
    <parameter default="120.0" name="BD_TURNRADIUS" type="FLOAT">
      <short_desc>Plane turn radius</short_desc>
      <long_desc>The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop.</long_desc>
      <min>30.0</min>
      <max>500.0</max>
      <unit>meter</unit>
    </parameter>
    <parameter default="30.0" name="BD_PRECISION" type="FLOAT">
      <short_desc>Drop precision</short_desc>
      <long_desc>If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy.</long_desc>
      <min>1.0</min>
      <max>80.0</max>
      <unit>meter</unit>
    </parameter>
    <parameter default="0.1" name="BD_OBJ_CD" type="FLOAT">
      <short_desc>Payload drag coefficient of the dropped object</short_desc>
      <long_desc>The drag coefficient (cd) is the typical drag constant for air. It is in general object specific, but the closest primitive shape to the actual object should give good results: http://en.wikipedia.org/wiki/Drag_coefficient</long_desc>
      <min>0.08</min>
      <max>1.5</max>
      <unit>meter</unit>
    </parameter>
    <parameter default="0.6" name="BD_OBJ_MASS" type="FLOAT">
      <short_desc>Payload mass</short_desc>
      <long_desc>A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg</long_desc>
      <min>0.001</min>
      <max>5.0</max>
      <unit>kilogram</unit>
    </parameter>
    <parameter default="0.00311724531" name="BD_OBJ_SURFACE" type="FLOAT">
      <short_desc>Payload front surface area</short_desc>
      <long_desc>A typical small toy ball: (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 OBC water bottle: (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2</long_desc>
      <min>0.001</min>
      <max>0.5</max>
      <unit>m^2</unit>
    </parameter>
  </group>
  <group name="Position Estimator">
    <parameter default="230" name="PE_VEL_DELAY_MS" type="INT32">
      <short_desc>Velocity estimate delay</short_desc>
      <long_desc>The delay in milliseconds of the velocity estimate from GPS.</long_desc>
      <min>0</min>
      <max>1000</max>
    </parameter>
    <parameter default="210" name="PE_POS_DELAY_MS" type="INT32">
      <short_desc>Position estimate delay</short_desc>
      <long_desc>The delay in milliseconds of the position estimate from GPS.</long_desc>
      <min>0</min>
      <max>1000</max>
    </parameter>
    <parameter default="350" name="PE_HGT_DELAY_MS" type="INT32">
      <short_desc>Height estimate delay</short_desc>
      <long_desc>The delay in milliseconds of the height estimate from the barometer.</long_desc>
      <min>0</min>
      <max>1000</max>
    </parameter>
    <parameter default="30" name="PE_MAG_DELAY_MS" type="INT32">
      <short_desc>Mag estimate delay</short_desc>
      <long_desc>The delay in milliseconds of the magnetic field estimate from the magnetometer.</long_desc>
      <min>0</min>
      <max>1000</max>
    </parameter>
    <parameter default="210" name="PE_TAS_DELAY_MS" type="INT32">
      <short_desc>True airspeeed estimate delay</short_desc>
      <long_desc>The delay in milliseconds of the airspeed estimate.</long_desc>
      <min>0</min>
      <max>1000</max>
    </parameter>
    <parameter default="0.9" name="PE_GPS_ALT_WGT" type="FLOAT">
      <short_desc>GPS vs. barometric altitude update weight</short_desc>
      <long_desc>RE-CHECK this.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="1.4" name="PE_EAS_NOISE" type="FLOAT">
      <short_desc>Airspeed measurement noise</short_desc>
      <long_desc>Increasing this value will make the filter trust this sensor less and trust other sensors more.</long_desc>
      <min>0.5</min>
      <max>5.0</max>
    </parameter>
    <parameter default="0.3" name="PE_VELNE_NOISE" type="FLOAT">
      <short_desc>Velocity measurement noise in north-east (horizontal) direction</short_desc>
      <long_desc>Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5</long_desc>
      <min>0.05</min>
      <max>5.0</max>
    </parameter>
    <parameter default="0.3" name="PE_VELD_NOISE" type="FLOAT">
      <short_desc>Velocity noise in down (vertical) direction</short_desc>
      <long_desc>Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7</long_desc>
      <min>0.2</min>
      <max>3.0</max>
    </parameter>
    <parameter default="0.5" name="PE_POSNE_NOISE" type="FLOAT">
      <short_desc>Position noise in north-east (horizontal) direction</short_desc>
      <long_desc>Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5</long_desc>
      <min>0.1</min>
      <max>10.0</max>
    </parameter>
    <parameter default="1.25" name="PE_POSD_NOISE" type="FLOAT">
      <short_desc>Position noise in down (vertical) direction</short_desc>
      <long_desc>Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0</long_desc>
      <min>0.5</min>
      <max>3.0</max>
    </parameter>
    <parameter default="0.05" name="PE_MAG_NOISE" type="FLOAT">
      <short_desc>Magnetometer measurement noise</short_desc>
      <long_desc>Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05</long_desc>
      <min>0.01</min>
      <max>1.0</max>
    </parameter>
    <parameter default="0.015" name="PE_GYRO_PNOISE" type="FLOAT">
      <short_desc>Gyro process noise</short_desc>
      <long_desc>Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more.</long_desc>
      <min>0.001</min>
      <max>0.05</max>
    </parameter>
    <parameter default="0.125" name="PE_ACC_PNOISE" type="FLOAT">
      <short_desc>Accelerometer process noise</short_desc>
      <long_desc>Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more.</long_desc>
      <min>0.05</min>
      <max>1.0</max>
    </parameter>
    <parameter default="1e-07" name="PE_GBIAS_PNOISE" type="FLOAT">
      <short_desc>Gyro bias estimate process noise</short_desc>
      <long_desc>Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier.</long_desc>
      <min>0.00000005</min>
      <max>0.00001</max>
    </parameter>
    <parameter default="1e-05" name="PE_ABIAS_PNOISE" type="FLOAT">
      <short_desc>Accelerometer bias estimate process noise</short_desc>
      <long_desc>Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier.</long_desc>
      <min>0.00001</min>
      <max>0.001</max>
    </parameter>
    <parameter default="0.0003" name="PE_MAGE_PNOISE" type="FLOAT">
      <short_desc>Magnetometer earth frame offsets process noise</short_desc>
      <long_desc>Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier.</long_desc>
      <min>0.0001</min>
      <max>0.01</max>
    </parameter>
    <parameter default="0.0003" name="PE_MAGB_PNOISE" type="FLOAT">
      <short_desc>Magnetometer body frame offsets process noise</short_desc>
      <long_desc>Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier.</long_desc>
      <min>0.0001</min>
      <max>0.01</max>
    </parameter>
    <parameter default="0.0" name="PE_MAGB_X" type="FLOAT">
      <short_desc>Magnetometer X bias</short_desc>
      <long_desc>The magnetometer bias. This bias is learnt by the filter over time and persists between boots.</long_desc>
      <min>-0.6</min>
      <max>0.6</max>
    </parameter>
    <parameter default="0.0" name="PE_MAGB_Y" type="FLOAT">
      <short_desc>Magnetometer Y bias</short_desc>
      <long_desc>The magnetometer bias. This bias is learnt by the filter over time and persists between boots.</long_desc>
      <min>-0.6</min>
      <max>0.6</max>
    </parameter>
    <parameter default="0.0" name="PE_MAGB_Z" type="FLOAT">
      <short_desc>Magnetometer Z bias</short_desc>
      <long_desc>The magnetometer bias. This bias is learnt by the filter over time and persists between boots.</long_desc>
      <min>-0.6</min>
      <max>0.6</max>
    </parameter>
    <parameter default="5.0" name="PE_POSDEV_INIT" type="FLOAT">
      <short_desc>Threshold for filter initialization</short_desc>
      <long_desc>If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize.</long_desc>
      <min>0.3</min>
      <max>10.0</max>
    </parameter>
  </group>
  <group name="Position Estimator INAV">
    <parameter default="0.5" name="INAV_W_Z_BARO" type="FLOAT">
      <short_desc>Z axis weight for barometer</short_desc>
      <long_desc>Weight (cutoff frequency) for barometer altitude measurements.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.005" name="INAV_W_Z_GPS_P" type="FLOAT">
      <short_desc>Z axis weight for GPS</short_desc>
      <long_desc>Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="INAV_W_Z_GPS_V" type="FLOAT">
      <short_desc>Z velocity weight for GPS</short_desc>
      <long_desc>Weight (cutoff frequency) for GPS altitude velocity measurements.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="5.0" name="INAV_W_Z_VIS_P" type="FLOAT">
      <short_desc>Z axis weight for vision</short_desc>
      <long_desc>Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="3.0" name="INAV_W_Z_LIDAR" type="FLOAT">
      <short_desc>Z axis weight for lidar</short_desc>
      <long_desc>Weight (cutoff frequency) for lidar measurements.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="1.0" name="INAV_W_XY_GPS_P" type="FLOAT">
      <short_desc>XY axis weight for GPS position</short_desc>
      <long_desc>Weight (cutoff frequency) for GPS position measurements.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="2.0" name="INAV_W_XY_GPS_V" type="FLOAT">
      <short_desc>XY axis weight for GPS velocity</short_desc>
      <long_desc>Weight (cutoff frequency) for GPS velocity measurements.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="7.0" name="INAV_W_XY_VIS_P" type="FLOAT">
      <short_desc>XY axis weight for vision position</short_desc>
      <long_desc>Weight (cutoff frequency) for vision position measurements.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="INAV_W_XY_VIS_V" type="FLOAT">
      <short_desc>XY axis weight for vision velocity</short_desc>
      <long_desc>Weight (cutoff frequency) for vision velocity measurements.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="10.0" name="INAV_W_MOC_P" type="FLOAT">
      <short_desc>Weight for mocap system</short_desc>
      <long_desc>Weight (cutoff frequency) for mocap position measurements.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.8" name="INAV_W_XY_FLOW" type="FLOAT">
      <short_desc>XY axis weight for optical flow</short_desc>
      <long_desc>Weight (cutoff frequency) for optical flow (velocity) measurements.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.5" name="INAV_W_XY_RES_V" type="FLOAT">
      <short_desc>XY axis weight for resetting velocity</short_desc>
      <long_desc>When velocity sources lost slowly decrease estimated horizontal velocity with this weight.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.1" name="INAV_W_GPS_FLOW" type="FLOAT">
      <short_desc>XY axis weight factor for GPS when optical flow available</short_desc>
      <long_desc>When optical flow data available, multiply GPS weights (for position and velocity) by this factor.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="0.05" name="INAV_W_ACC_BIAS" type="FLOAT">
      <short_desc>Accelerometer bias estimation weight</short_desc>
      <long_desc>Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.</long_desc>
      <min>0.0</min>
      <max>0.1</max>
    </parameter>
    <parameter default="1.35" name="INAV_FLOW_K" type="FLOAT">
      <short_desc>Optical flow scale factor</short_desc>
      <long_desc>Factor to scale optical flow</long_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.3" name="INAV_FLOW_Q_MIN" type="FLOAT">
      <short_desc>Minimal acceptable optical flow quality</short_desc>
      <long_desc>0 - lowest quality, 1 - best quality.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="0.2" name="INAV_LIDAR_ERR" type="FLOAT">
      <short_desc>Sonar maximal error for new surface</short_desc>
      <long_desc>If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>m</unit>
    </parameter>
    <parameter default="3.0" name="INAV_LAND_T" type="FLOAT">
      <short_desc>Land detector time</short_desc>
      <long_desc>Vehicle assumed landed if no altitude changes happened during this time on low throttle.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
      <unit>s</unit>
    </parameter>
    <parameter default="0.7" name="INAV_LAND_DISP" type="FLOAT">
      <short_desc>Land detector altitude dispersion threshold</short_desc>
      <long_desc>Dispersion threshold for triggering land detector.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0.2" name="INAV_LAND_THR" type="FLOAT">
      <short_desc>Land detector throttle threshold</short_desc>
      <long_desc>Value should be lower than minimal hovering thrust. Half of it is good choice.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="0.2" name="INAV_DELAY_GPS" type="FLOAT">
      <short_desc>GPS delay</short_desc>
      <long_desc>GPS delay compensation</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>s</unit>
    </parameter>
    <parameter default="0.0" name="INAV_FLOW_DIST_X" type="FLOAT">
      <short_desc>Flow module offset (center of rotation) in X direction</short_desc>
      <long_desc>Yaw X flow compensation</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0.0" name="INAV_FLOW_DIST_Y" type="FLOAT">
      <short_desc>Flow module offset (center of rotation) in Y direction</short_desc>
      <long_desc>Yaw Y flow compensation</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0" name="INAV_DISAB_MOCAP" type="FLOAT">
      <short_desc>Disable mocap (set 0 if using fake gps)</short_desc>
      <long_desc>Disable mocap</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0" name="INAV_LIDAR_EST" type="FLOAT">
      <short_desc>Enable LIDAR for altitude estimation</short_desc>
      <long_desc>Enable LIDAR for altitude estimation</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0.0" name="INAV_LIDAR_OFF" type="FLOAT">
      <short_desc>LIDAR calibration offset</short_desc>
      <long_desc>LIDAR calibration offset. Value will be added to the measured distance</long_desc>
      <min>-20</min>
      <max>20</max>
      <unit>m</unit>
    </parameter>
    <parameter default="0" name="CBRK_NO_VISION" type="INT32">
      <short_desc>Disable vision input</short_desc>
      <long_desc>Set to the appropriate key (328754) to disable vision input.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="1" name="INAV_ENABLED" type="INT32">
      <short_desc>INAV enabled</short_desc>
      <long_desc>If set to 1, use INAV for position estimation. Else the system uses the combined attitude / position filter framework.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
  </group>
  <group name="Radio Calibration">
    <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_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_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>
    <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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="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>
    </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="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="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>
    </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="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>
    </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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </parameter>
    <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="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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="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="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="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="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>
    </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="0" name="RC_RL1_DSM_VCC" type="INT32">
      <short_desc>Enable relay control of relay 1 mapped to the Spektrum receiver power supply</short_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="-1" name="RC_DSM_BIND" type="INT32">
      <short_desc>DSM binding trigger</short_desc>
      <long_desc>-1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind</long_desc>
    </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="1" name="RC_TH_USER" type="INT32">
      <short_desc>RC mode switch threshold automaic distribution</short_desc>
      <long_desc>This parameter is used by Ground Station software to specify whether the threshold values for flight mode switches were automatically calculated. 0 indicates that the threshold values were set by the user. Any other value indicates that the threshold value where automatically set by the ground station software. It is only meant for ground station use.</long_desc>
      <min>0</min>
      <max>1</max>
    </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>
    </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>
    </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>
    </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>
    </parameter>
    <parameter default="0" name="RC_MAP_AUX1" type="INT32">
      <short_desc>Auxiliary switch 1 channel mapping</short_desc>
      <long_desc>Default function: Camera pitch</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_AUX2" type="INT32">
      <short_desc>Auxiliary switch 2 channel mapping</short_desc>
      <long_desc>Default function: Camera roll</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_AUX3" type="INT32">
      <short_desc>Auxiliary switch 3 channel mapping</short_desc>
      <long_desc>Default function: Camera azimuth / yaw</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_PARAM1" type="INT32">
      <short_desc>Channel which changes a parameter</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="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_PARAM2" type="INT32">
      <short_desc>Channel which changes a parameter</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="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_PARAM3" type="INT32">
      <short_desc>Channel which changes a parameter</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="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </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.</long_desc>
      <min>0</min>
      <max>2200</max>
      <unit>us</unit>
    </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>
    </parameter>
    <parameter default="1000" 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="2000" 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>
  </group>
  <group name="Radio Signal Loss">
    <parameter default="120.0" name="NAV_RCL_LT" type="FLOAT">
      <short_desc>Loiter Time</short_desc>
      <long_desc>The amount of time in seconds the system should loiter at current position before termination Set to -1 to make the system skip loitering</long_desc>
      <min>-1.0</min>
      <unit>seconds</unit>
    </parameter>
  </group>
  <group name="Radio Switches">
    <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="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_RETURN_SW" type="INT32">
      <short_desc>Return switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_RATT_SW" type="INT32">
      <short_desc>Rattitude switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_POSCTL_SW" type="INT32">
      <short_desc>Posctl switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_LOITER_SW" type="INT32">
      <short_desc>Loiter switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_ACRO_SW" type="INT32">
      <short_desc>Acro switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_OFFB_SW" type="INT32">
      <short_desc>Offboard switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_KILL_SW" type="INT32">
      <short_desc>Kill switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_FLAPS" type="INT32">
      <short_desc>Flaps channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="11">RC Channel 11</value>
        <value code="10">RC Channel 10</value>
        <value code="13">RC Channel 13</value>
        <value code="12">RC Channel 12</value>
        <value code="15">RC Channel 15</value>
        <value code="14">RC Channel 14</value>
        <value code="17">RC Channel 17</value>
        <value code="16">RC Channel 16</value>
        <value code="18">RC Channel 18</value>
        <value code="1">RC Channel 1</value>
        <value code="0">Unassigned</value>
        <value code="3">RC Channel 3</value>
        <value code="2">RC Channel 2</value>
        <value code="5">RC Channel 5</value>
        <value code="4">RC Channel 4</value>
        <value code="7">RC Channel 7</value>
        <value code="6">RC Channel 6</value>
        <value code="9">RC Channel 9</value>
        <value code="8">RC Channel 8</value>
      </values>
    </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="0.5" name="RC_RATT_TH" type="FLOAT">
      <short_desc>Threshold for selecting rattitude 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_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="0.5" 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_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="0.5" 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="0.5" 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="0.25" 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>
  </group>
  <group name="Return To Land">
    <parameter default="60" name="RTL_RETURN_ALT" type="FLOAT">
      <short_desc>RTL altitude</short_desc>
      <long_desc>Altitude to fly back in RTL in meters</long_desc>
      <min>0</min>
      <max>150</max>
      <unit>meters</unit>
    </parameter>
    <parameter default="30" name="RTL_DESCEND_ALT" type="FLOAT">
      <short_desc>RTL loiter altitude</short_desc>
      <long_desc>Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.</long_desc>
      <min>2</min>
      <max>100</max>
      <unit>meters</unit>
    </parameter>
    <parameter default="-1.0" name="RTL_LAND_DELAY" type="FLOAT">
      <short_desc>RTL delay</short_desc>
      <long_desc>Delay after descend before landing in RTL mode. If set to -1 the system will not land but loiter at NAV_LAND_ALT.</long_desc>
      <min>-1</min>
      <max>300</max>
      <unit>seconds</unit>
    </parameter>
  </group>
  <group name="Runway Takeoff">
    <parameter default="0" name="RWTO_TKOFF" type="INT32">
      <short_desc>Enable or disable runway takeoff with landing gear</short_desc>
      <long_desc>0: disabled, 1: enabled</long_desc>
      <min>0</min>
      <max>1</max>
    </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>
    </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.
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</short_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>m</unit>
    </parameter>
    <parameter default="1.0" name="RWTO_MAX_THR" type="FLOAT">
      <short_desc>Max throttle during runway takeoff.
(Can be used to test taxi on runway)</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="0.0" name="RWTO_PSP" type="FLOAT">
      <short_desc>Pitch setpoint during taxi / before takeoff airspeed is reached.
A taildragger with stearable wheel might need to pitch up
a little to keep it's wheel on the ground before airspeed
to takeoff is reached</short_desc>
      <min>0.0</min>
      <max>20.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="20.0" name="RWTO_MAX_PITCH" type="FLOAT">
      <short_desc>Max pitch during takeoff.
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</short_desc>
      <min>0.0</min>
      <max>60.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="25.0" name="RWTO_MAX_ROLL" type="FLOAT">
      <short_desc>Max roll during climbout.
Roll is limited during climbout to ensure enough lift and prevents aggressive
navigation before we're on a safe height</short_desc>
      <min>0.0</min>
      <max>60.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="1.3" name="RWTO_AIRSPD_SCL" type="FLOAT">
      <short_desc>Min. airspeed scaling factor for takeoff.
Pitch up will be commanded when the following airspeed is reached:
FW_AIRSPD_MIN * RWTO_AIRSPD_SCL</short_desc>
      <min>0.0</min>
      <max>2.0</max>
    </parameter>
  </group>
  <group name="SD Logging">
    <parameter default="-1" name="SDLOG_RATE" type="INT32">
      <short_desc>Logging rate</short_desc>
      <long_desc>A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming).</long_desc>
      <min>-1</min>
      <max>100</max>
    </parameter>
    <parameter default="-1" name="SDLOG_EXT" type="INT32">
      <short_desc>Enable extended logging mode</short_desc>
      <long_desc>A value of -1 indicates the commandline argument should be obeyed. A value of 0 disables extended logging mode, a value of 1 enables it. This parameter is only read out before logging starts (which commonly is before arming).</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="1" name="SDLOG_GPSTIME" type="INT32">
      <short_desc>Use timestamps only if GPS 3D fix is available</short_desc>
      <long_desc>A value of 1 constrains the log folder creation to only use the time stamp if a 3D GPS lock is present.</long_desc>
      <min>0</min>
      <max>1</max>
    </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>
    </parameter>
    <parameter default="0" name="SDLOG_PRIO_BOOST" type="INT32">
      <short_desc>Give logging app higher thread priority to avoid data loss.
This is used for gathering replay logs for the ekf2 module</short_desc>
      <long_desc>A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority.</long_desc>
      <min>0</min>
      <max>3</max>
    </parameter>
  </group>
  <group name="Sensor Calibration">
    <parameter default="0" name="CAL_BOARD_ID" type="INT32">
      <short_desc>ID of the board this parameter set was calibrated on</short_desc>
    </parameter>
    <parameter default="0" name="CAL_GYRO0_ID" type="INT32">
      <short_desc>ID of the Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_GYRO0_XOFF" type="FLOAT">
      <short_desc>Gyro X-axis offset</short_desc>
      <min>-10.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_GYRO0_YOFF" type="FLOAT">
      <short_desc>Gyro Y-axis offset</short_desc>
      <min>-10.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_GYRO0_ZOFF" type="FLOAT">
      <short_desc>Gyro Z-axis offset</short_desc>
      <min>-5.0</min>
      <max>5.0</max>
    </parameter>
    <parameter default="1.0" name="CAL_GYRO0_XSCALE" type="FLOAT">
      <short_desc>Gyro X-axis scaling factor</short_desc>
      <min>-1.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="1.0" name="CAL_GYRO0_YSCALE" type="FLOAT">
      <short_desc>Gyro Y-axis scaling factor</short_desc>
      <min>-1.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="1.0" name="CAL_GYRO0_ZSCALE" type="FLOAT">
      <short_desc>Gyro Z-axis scaling factor</short_desc>
      <min>-1.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="0" name="CAL_MAG0_ID" type="INT32">
      <short_desc>ID of Magnetometer the calibration is for</short_desc>
    </parameter>
    <parameter default="-1" name="CAL_MAG0_ROT" type="INT32">
      <short_desc>Rotation of magnetometer 0 relative to airframe</short_desc>
      <long_desc>An internal magnetometer 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>30</max>
    </parameter>
    <parameter default="0.0" name="CAL_MAG0_XOFF" type="FLOAT">
      <short_desc>Magnetometer X-axis offset</short_desc>
      <min>-500.0</min>
      <max>500.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_MAG0_YOFF" type="FLOAT">
      <short_desc>Magnetometer Y-axis offset</short_desc>
      <min>-500.0</min>
      <max>500.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_MAG0_ZOFF" type="FLOAT">
      <short_desc>Magnetometer Z-axis offset</short_desc>
      <min>-500.0</min>
      <max>500.0</max>
    </parameter>
    <parameter default="1.0" name="CAL_MAG0_XSCALE" type="FLOAT">
      <short_desc>Magnetometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_MAG0_YSCALE" type="FLOAT">
      <short_desc>Magnetometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_MAG0_ZSCALE" type="FLOAT">
      <short_desc>Magnetometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter default="0" name="CAL_ACC0_ID" type="INT32">
      <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_ACC0_XOFF" type="FLOAT">
      <short_desc>Accelerometer X-axis offset</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_ACC0_YOFF" type="FLOAT">
      <short_desc>Accelerometer Y-axis offset</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_ACC0_ZOFF" type="FLOAT">
      <short_desc>Accelerometer Z-axis offset</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_ACC0_XSCALE" type="FLOAT">
      <short_desc>Accelerometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_ACC0_YSCALE" type="FLOAT">
      <short_desc>Accelerometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_ACC0_ZSCALE" type="FLOAT">
      <short_desc>Accelerometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter default="0" name="CAL_GYRO1_ID" type="INT32">
      <short_desc>ID of the Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_GYRO1_XOFF" type="FLOAT">
      <short_desc>Gyro X-axis offset</short_desc>
      <min>-10.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_GYRO1_YOFF" type="FLOAT">
      <short_desc>Gyro Y-axis offset</short_desc>
      <min>-10.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_GYRO1_ZOFF" type="FLOAT">
      <short_desc>Gyro Z-axis offset</short_desc>
      <min>-5.0</min>
      <max>5.0</max>
    </parameter>
    <parameter default="1.0" name="CAL_GYRO1_XSCALE" type="FLOAT">
      <short_desc>Gyro X-axis scaling factor</short_desc>
      <min>-1.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="1.0" name="CAL_GYRO1_YSCALE" type="FLOAT">
      <short_desc>Gyro Y-axis scaling factor</short_desc>
      <min>-1.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="1.0" name="CAL_GYRO1_ZSCALE" type="FLOAT">
      <short_desc>Gyro Z-axis scaling factor</short_desc>
      <min>-1.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="0" name="CAL_MAG1_ID" type="INT32">
      <short_desc>ID of Magnetometer the calibration is for</short_desc>
    </parameter>
    <parameter default="-1" name="CAL_MAG1_ROT" type="INT32">
      <short_desc>Rotation of magnetometer 1 relative to airframe</short_desc>
      <long_desc>An internal magnetometer 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>30</max>
    </parameter>
    <parameter default="0.0" name="CAL_MAG1_XOFF" type="FLOAT">
      <short_desc>Magnetometer X-axis offset</short_desc>
      <min>-500.0</min>
      <max>500.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_MAG1_YOFF" type="FLOAT">
      <short_desc>Magnetometer Y-axis offset</short_desc>
      <min>-500.0</min>
      <max>500.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_MAG1_ZOFF" type="FLOAT">
      <short_desc>Magnetometer Z-axis offset</short_desc>
      <min>-500.0</min>
      <max>500.0</max>
    </parameter>
    <parameter default="1.0" name="CAL_MAG1_XSCALE" type="FLOAT">
      <short_desc>Magnetometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_MAG1_YSCALE" type="FLOAT">
      <short_desc>Magnetometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_MAG1_ZSCALE" type="FLOAT">
      <short_desc>Magnetometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter default="0" name="CAL_ACC1_ID" type="INT32">
      <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_ACC1_XOFF" type="FLOAT">
      <short_desc>Accelerometer X-axis offset</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_ACC1_YOFF" type="FLOAT">
      <short_desc>Accelerometer Y-axis offset</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_ACC1_ZOFF" type="FLOAT">
      <short_desc>Accelerometer Z-axis offset</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_ACC1_XSCALE" type="FLOAT">
      <short_desc>Accelerometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_ACC1_YSCALE" type="FLOAT">
      <short_desc>Accelerometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_ACC1_ZSCALE" type="FLOAT">
      <short_desc>Accelerometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter default="0" name="CAL_GYRO2_ID" type="INT32">
      <short_desc>ID of the Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_GYRO2_XOFF" type="FLOAT">
      <short_desc>Gyro X-axis offset</short_desc>
      <min>-10.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_GYRO2_YOFF" type="FLOAT">
      <short_desc>Gyro Y-axis offset</short_desc>
      <min>-10.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_GYRO2_ZOFF" type="FLOAT">
      <short_desc>Gyro Z-axis offset</short_desc>
      <min>-5.0</min>
      <max>5.0</max>
    </parameter>
    <parameter default="1.0" name="CAL_GYRO2_XSCALE" type="FLOAT">
      <short_desc>Gyro X-axis scaling factor</short_desc>
      <min>-1.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="1.0" name="CAL_GYRO2_YSCALE" type="FLOAT">
      <short_desc>Gyro Y-axis scaling factor</short_desc>
      <min>-1.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="1.0" name="CAL_GYRO2_ZSCALE" type="FLOAT">
      <short_desc>Gyro Z-axis scaling factor</short_desc>
      <min>-1.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="0" name="CAL_MAG2_ID" type="INT32">
      <short_desc>ID of Magnetometer the calibration is for</short_desc>
    </parameter>
    <parameter default="-1" name="CAL_MAG2_ROT" type="INT32">
      <short_desc>Rotation of magnetometer 2 relative to airframe</short_desc>
      <long_desc>An internal magnetometer 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>30</max>
    </parameter>
    <parameter default="0.0" name="CAL_MAG2_XOFF" type="FLOAT">
      <short_desc>Magnetometer X-axis offset</short_desc>
      <min>-500.0</min>
      <max>500.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_MAG2_YOFF" type="FLOAT">
      <short_desc>Magnetometer Y-axis offset</short_desc>
      <min>-500.0</min>
      <max>500.0</max>
    </parameter>
    <parameter default="0.0" name="CAL_MAG2_ZOFF" type="FLOAT">
      <short_desc>Magnetometer Z-axis offset</short_desc>
      <min>-500.0</min>
      <max>500.0</max>
    </parameter>
    <parameter default="1.0" name="CAL_MAG2_XSCALE" type="FLOAT">
      <short_desc>Magnetometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_MAG2_YSCALE" type="FLOAT">
      <short_desc>Magnetometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_MAG2_ZSCALE" type="FLOAT">
      <short_desc>Magnetometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter default="0" name="CAL_ACC2_ID" type="INT32">
      <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_ACC2_XOFF" type="FLOAT">
      <short_desc>Accelerometer X-axis offset</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_ACC2_YOFF" type="FLOAT">
      <short_desc>Accelerometer Y-axis offset</short_desc>
    </parameter>
    <parameter default="0.0" name="CAL_ACC2_ZOFF" type="FLOAT">
      <short_desc>Accelerometer Z-axis offset</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_ACC2_XSCALE" type="FLOAT">
      <short_desc>Accelerometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_ACC2_YSCALE" type="FLOAT">
      <short_desc>Accelerometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter default="1.0" name="CAL_ACC2_ZSCALE" type="FLOAT">
      <short_desc>Accelerometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter default="0" name="CAL_ACC_PRIME" type="INT32">
      <short_desc>Primary accel ID</short_desc>
    </parameter>
    <parameter default="0" name="CAL_GYRO_PRIME" type="INT32">
      <short_desc>Primary gyro ID</short_desc>
    </parameter>
    <parameter default="0" name="CAL_MAG_PRIME" type="INT32">
      <short_desc>Primary mag ID</short_desc>
    </parameter>
    <parameter default="0" name="CAL_BARO_PRIME" type="INT32">
      <short_desc>Primary baro ID</short_desc>
    </parameter>
    <parameter default="0.0" name="SENS_DPRES_OFF" type="FLOAT">
      <short_desc>Differential pressure sensor offset</short_desc>
      <long_desc>The offset (zero-reading) in Pascal</long_desc>
    </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 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>
    </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. Possible values are: 0 = No rotation 1 = Yaw 45° 2 = Yaw 90° 3 = Yaw 135° 4 = Yaw 180° 5 = Yaw 225° 6 = Yaw 270° 7 = Yaw 315° 8 = Roll 180° 9 = Roll 180°, Yaw 45° 10 = Roll 180°, Yaw 90° 11 = Roll 180°, Yaw 135° 12 = Pitch 180° 13 = Roll 180°, Yaw 225° 14 = Roll 180°, Yaw 270° 15 = Roll 180°, Yaw 315° 16 = Roll 90° 17 = Roll 90°, Yaw 45° 18 = Roll 90°, Yaw 90° 19 = Roll 90°, Yaw 135° 20 = Roll 270° 21 = Roll 270°, Yaw 45° 22 = Roll 270°, Yaw 90° 23 = Roll 270°, Yaw 135° 24 = Pitch 90° 25 = Pitch 270°</long_desc>
    </parameter>
    <parameter default="0" name="SENS_FLOW_ROT" type="INT32">
      <short_desc>PX4Flow board rotation</short_desc>
      <long_desc>This parameter defines the rotation of the PX4FLOW board relative to the platform. Zero rotation is defined as Y on flow board pointing towards front of vehicle Possible values are: 0 = No rotation 1 = Yaw 45° 2 = Yaw 90° 3 = Yaw 135° 4 = Yaw 180° 5 = Yaw 225° 6 = Yaw 270° 7 = Yaw 315°</long_desc>
    </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>degrees</unit>
    </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>degrees</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>degrees</unit>
    </parameter>
    <parameter default="0" name="SENS_EXT_MAG_ROT" type="INT32">
      <short_desc>External magnetometer rotation</short_desc>
      <long_desc>This parameter defines the rotation of the external magnetometer relative to the platform (not relative to the FMU). See SENS_BOARD_ROT for possible values.</long_desc>
    </parameter>
    <parameter default="0" name="SENS_EXT_MAG" type="INT32">
      <short_desc>Set usage of external magnetometer</short_desc>
      <long_desc>* Set to 0 (default) to auto-detect (will try to get the external as primary) * Set to 1 to force the external magnetometer as primary * Set to 2 to force the internal magnetometer as primary</long_desc>
      <min>0</min>
      <max>2</max>
    </parameter>
  </group>
  <group name="Sensor Enable">
    <parameter default="0" name="SENS_EN_LL40LS" type="INT32">
      <short_desc>Enable Lidar-Lite (LL40LS) pwm driver</short_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
  </group>
  <group name="Subscriber Example">
    <parameter default="100" name="SUB_INTERV" type="INT32">
      <short_desc>Interval of one subscriber in the example in ms</short_desc>
    </parameter>
    <parameter default="3.14" name="SUB_TESTF" type="FLOAT">
      <short_desc>Float Demonstration Parameter in the Example</short_desc>
    </parameter>
  </group>
  <group name="System">
    <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>
    </parameter>
    <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>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="1" name="SYS_USE_IO" type="INT32">
      <short_desc>Set usage of IO board</short_desc>
      <long_desc>Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="2" name="SYS_RESTART_TYPE" type="INT32">
      <short_desc>Set restart type</short_desc>
      <long_desc>Set by px4io to indicate type of restart</long_desc>
      <min>0</min>
      <max>2</max>
    </parameter>
    <parameter default="157600" name="SYS_COMPANION" type="INT32">
      <short_desc>Companion computer interface</short_desc>
      <long_desc>CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the companion computer interface. Set to zero to disable, set to these values to enable (NO OTHER VALUES SUPPORTED!) 921600: enables onboard mode at 921600 baud, 8N1. 57600: enables onboard mode at 57600 baud, 8N1. 157600: enables OSD mode at 57600 baud, 8N1.</long_desc>
      <min>0</min>
      <max>921600</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="357600">Telemetry (57600 baud, 8N1)</value>
        <value code="257600">Command Receiver (57600 baud, 8N1)</value>
        <value code="57600">Companion Link (57600 baud, 8N1)</value>
        <value code="921600">Companion Link (921600 baud, 8N1)</value>
        <value code="157600">OSD (57600 baud, 8N1)</value>
      </values>
    </parameter>
    <parameter default="1" name="SYS_PARAM_VER" type="INT32">
      <short_desc>Parameter version</short_desc>
      <long_desc>This monotonically increasing number encodes the parameter compatibility set. whenever it increases parameters might not be backwards compatible and ground control stations should suggest a fresh configuration.</long_desc>
      <min>0</min>
    </parameter>
  </group>
  <group name="UAVCAN">
    <parameter default="0" name="UAVCAN_ENABLE" type="INT32">
      <short_desc>Enable UAVCAN</short_desc>
      <long_desc>Allowed values: 0 - UAVCAN disabled. 1 - Enabled support for UAVCAN actuators and sensors. 2 - Enabled support for dynamic node ID allocation and firmware update. 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update.</long_desc>
      <min>0</min>
      <max>3</max>
    </parameter>
    <parameter default="1" name="UAVCAN_NODE_ID" type="INT32">
      <short_desc>UAVCAN Node ID</short_desc>
      <long_desc>Read the specs at http://uavcan.org to learn more about Node ID.</long_desc>
      <min>1</min>
      <max>125</max>
    </parameter>
    <parameter default="1000000" name="UAVCAN_BITRATE" type="INT32">
      <short_desc>UAVCAN CAN bus bitrate</short_desc>
      <min>20000</min>
      <max>1000000</max>
    </parameter>
  </group>
  <group name="VTOL Attitude Control">
    <parameter default="0.6" name="VT_TRANS_THR" type="FLOAT">
      <short_desc>Target throttle value for pusher/puller motor during the transition to fw mode</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="0.0" name="VT_TILT_MC" type="FLOAT">
      <short_desc>Position of tilt servo in mc mode</short_desc>
      <long_desc>Position of tilt servo in mc mode</long_desc>
      <min>0.0</min>
      <max>1</max>
    </parameter>
    <parameter default="0.3" name="VT_TILT_TRANS" type="FLOAT">
      <short_desc>Position of tilt servo in transition mode</short_desc>
      <long_desc>Position of tilt servo in transition mode</long_desc>
      <min>0.0</min>
      <max>1</max>
    </parameter>
    <parameter default="1.0" name="VT_TILT_FW" type="FLOAT">
      <short_desc>Position of tilt servo in fw mode</short_desc>
      <long_desc>Position of tilt servo in fw mode</long_desc>
      <min>0.0</min>
      <max>1</max>
    </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>2</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>
    </parameter>
    <parameter default="0" name="VT_MOT_COUNT" type="INT32">
      <short_desc>VTOL number of engines</short_desc>
      <min>0</min>
    </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>
    </parameter>
    <parameter default="10.0" name="VT_MC_ARSPD_MIN" type="FLOAT">
      <short_desc>Minimum airspeed in multicopter mode</short_desc>
      <long_desc>This is the minimum speed of the air flowing over the control surfaces.</long_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="30.0" name="VT_MC_ARSPD_MAX" type="FLOAT">
      <short_desc>Maximum airspeed in multicopter mode</short_desc>
      <long_desc>This is the maximum speed of the air flowing over the control surfaces.</long_desc>
      <min>0.0</min>
    </parameter>
    <parameter default="10.0" name="VT_MC_ARSPD_TRIM" type="FLOAT">
      <short_desc>Trim airspeed when in multicopter mode</short_desc>
      <long_desc>This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.</long_desc>
      <min>0.0</min>
    </parameter>
    <parameter 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>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0.0" name="VT_FW_PITCH_TRIM" type="FLOAT">
      <short_desc>Fixed wing pitch trim</short_desc>
      <long_desc>This parameter allows to adjust the neutral elevon position in fixed wing mode.</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="120.0" name="VT_POWER_MAX" type="FLOAT">
      <short_desc>Motor max power</short_desc>
      <long_desc>Indicates the maximum power the motor is able to produce. Used to calculate propeller efficiency map.</long_desc>
      <min>1</min>
    </parameter>
    <parameter default="0.0" name="VT_PROP_EFF" type="FLOAT">
      <short_desc>Propeller efficiency parameter</short_desc>
      <long_desc>Influences propeller efficiency at different power settings. Should be tuned beforehand.</long_desc>
      <min>0.0</min>
      <max>0.9</max>
    </parameter>
    <parameter default="0.3" name="VT_ARSP_LP_GAIN" type="FLOAT">
      <short_desc>Total airspeed estimate low-pass filter gain</short_desc>
      <long_desc>Gain for tuning the low-pass filter for the total airspeed estimate</long_desc>
      <min>0.0</min>
      <max>0.99</max>
    </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>
    </parameter>
    <parameter default="0" 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>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="3.0" 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>0.0</min>
      <max>5</max>
    </parameter>
    <parameter default="2.0" 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>0.0</min>
      <max>5</max>
    </parameter>
    <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>0.0</min>
      <max>20.0</max>
    </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>1.0</min>
      <max>20</max>
    </parameter>
    <parameter default="0" name="VT_OPT_RECOV_EN" type="INT32">
      <short_desc>Enable optimal recovery strategy for pitch-weak tailsitters</short_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0" name="VT_WV_LND_EN" type="INT32">
      <short_desc>Enable weather-vane mode landings for missions</short_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0.15" name="VT_WV_YAWR_SCL" type="FLOAT">
      <short_desc>Weather-vane yaw rate scale</short_desc>
      <long_desc>The desired yawrate from the controller will be scaled in order to avoid yaw fighting against the wind.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0" name="VT_WV_LTR_EN" type="INT32">
      <short_desc>Enable weather-vane mode for loiter</short_desc>
      <min>0</min>
      <max>1</max>
    </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>0.0</min>
      <max>30.0</max>
    </parameter>
  </group>
  <group name="mTECS">
    <parameter default="0" name="MT_ENABLED" type="INT32">
      <short_desc>mTECS enabled</short_desc>
      <long_desc>Set to 1 to enable mTECS</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0.7" name="MT_THR_FF" type="FLOAT">
      <short_desc>Total Energy Rate Control Feedforward
Maps the total energy rate setpoint to the throttle setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.1" name="MT_THR_P" type="FLOAT">
      <short_desc>Total Energy Rate Control P
Maps the total energy rate error to the throttle setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.25" name="MT_THR_I" type="FLOAT">
      <short_desc>Total Energy Rate Control I
Maps the integrated total energy rate to the throttle setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.7" name="MT_THR_OFF" type="FLOAT">
      <short_desc>Total Energy Rate Control Offset (Cruise throttle sp)</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.4" name="MT_PIT_FF" type="FLOAT">
      <short_desc>Energy Distribution Rate Control Feedforward
Maps the energy distribution rate setpoint to the pitch setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.03" name="MT_PIT_P" type="FLOAT">
      <short_desc>Energy Distribution Rate Control P
Maps the energy distribution rate error to the pitch setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.03" name="MT_PIT_I" type="FLOAT">
      <short_desc>Energy Distribution Rate Control I
Maps the integrated energy distribution rate error to the pitch setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="MT_PIT_OFF" type="FLOAT">
      <short_desc>Total Energy Distribution Offset (Cruise pitch sp)</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="MT_THR_MIN" type="FLOAT">
      <short_desc>Minimal Throttle Setpoint</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="1.0" name="MT_THR_MAX" type="FLOAT">
      <short_desc>Maximal Throttle Setpoint</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="-45.0" name="MT_PIT_MIN" type="FLOAT">
      <short_desc>Minimal Pitch Setpoint in Degrees</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="20.0" name="MT_PIT_MAX" type="FLOAT">
      <short_desc>Maximal Pitch Setpoint in Degrees</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="1.0" name="MT_ALT_LP" type="FLOAT">
      <short_desc>Lowpass (cutoff freq.) for altitude</short_desc>
    </parameter>
    <parameter default="1.0" name="MT_FPA_LP" type="FLOAT">
      <short_desc>Lowpass (cutoff freq.) for the flight path angle</short_desc>
    </parameter>
    <parameter default="0.3" name="MT_FPA_P" type="FLOAT">
      <short_desc>P gain for the altitude control
Maps the altitude error to the flight path angle setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="MT_FPA_D" type="FLOAT">
      <short_desc>D gain for the altitude control
Maps the change of altitude error to the flight path angle setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="1.0" name="MT_FPA_D_LP" type="FLOAT">
      <short_desc>Lowpass for FPA error derivative calculation (see MT_FPA_D)</short_desc>
    </parameter>
    <parameter default="-20.0" name="MT_FPA_MIN" type="FLOAT">
      <short_desc>Minimal flight path angle setpoint</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="30.0" name="MT_FPA_MAX" type="FLOAT">
      <short_desc>Maximal flight path angle setpoint</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.5" name="MT_A_LP" type="FLOAT">
      <short_desc>Lowpass (cutoff freq.) for airspeed</short_desc>
    </parameter>
    <parameter default="0.5" name="MT_AD_LP" type="FLOAT">
      <short_desc>Airspeed derivative calculation lowpass</short_desc>
    </parameter>
    <parameter default="0.3" name="MT_ACC_P" type="FLOAT">
      <short_desc>P gain for the airspeed control
Maps the airspeed error to the acceleration setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.0" name="MT_ACC_D" type="FLOAT">
      <short_desc>D gain for the airspeed control
Maps the change of airspeed error to the acceleration setpoint</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="0.5" name="MT_ACC_D_LP" type="FLOAT">
      <short_desc>Lowpass for ACC error derivative calculation (see MT_ACC_D)</short_desc>
    </parameter>
    <parameter default="-40.0" name="MT_ACC_MIN" type="FLOAT">
      <short_desc>Minimal acceleration (air)</short_desc>
      <unit>m/s^2</unit>
    </parameter>
    <parameter default="40.0" name="MT_ACC_MAX" type="FLOAT">
      <short_desc>Maximal acceleration (air)</short_desc>
      <unit>m/s^2</unit>
    </parameter>
    <parameter default="1.0" name="MT_TKF_THR_MIN" type="FLOAT">
      <short_desc>Minimal throttle during takeoff</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="1.0" name="MT_TKF_THR_MAX" type="FLOAT">
      <short_desc>Maximal throttle during takeoff</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="0.0" name="MT_TKF_PIT_MIN" type="FLOAT">
      <short_desc>Minimal pitch during takeoff</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="45.0" name="MT_TKF_PIT_MAX" type="FLOAT">
      <short_desc>Maximal pitch during takeoff</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="1.0" name="MT_USP_THR_MIN" type="FLOAT">
      <short_desc>Minimal throttle in underspeed mode</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="1.0" name="MT_USP_THR_MAX" type="FLOAT">
      <short_desc>Maximal throttle in underspeed mode</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="-45.0" name="MT_USP_PIT_MIN" type="FLOAT">
      <short_desc>Minimal pitch in underspeed mode</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.0" name="MT_USP_PIT_MAX" type="FLOAT">
      <short_desc>Maximal pitch in underspeed mode</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.0" name="MT_LND_THR_MIN" type="FLOAT">
      <short_desc>Minimal throttle in landing mode (only last phase of landing)</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="0.0" name="MT_LND_THR_MAX" type="FLOAT">
      <short_desc>Maximal throttle in landing mode (only last phase of landing)</short_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="-5.0" name="MT_LND_PIT_MIN" type="FLOAT">
      <short_desc>Minimal pitch in landing mode</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="15.0" name="MT_LND_PIT_MAX" type="FLOAT">
      <short_desc>Maximal pitch in landing mode</short_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="10.0" name="MT_THR_I_MAX" type="FLOAT">
      <short_desc>Integrator Limit for Total Energy Rate Control</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
    <parameter default="10.0" name="MT_PIT_I_MAX" type="FLOAT">
      <short_desc>Integrator Limit for Energy Distribution Rate Control</short_desc>
      <min>0.0</min>
      <max>10.0</max>
    </parameter>
  </group>
  <group name="Miscellaneous">
    <parameter default="15" name="LED_RGB_MAXBRT" type="INT32">
      <short_desc>RGB Led brightness limit</short_desc>
      <long_desc>Set to 0 to disable, 1 for minimum brightness up to 15 (max)</long_desc>
      <min>0</min>
      <max>15</max>
    </parameter>
    <parameter default="0.1" name="EXFW_HDNG_P" type="FLOAT">
      <short_desc>EXFW_HDNG_P</short_desc>
    </parameter>
    <parameter default="0.2" name="EXFW_ROLL_P" type="FLOAT">
      <short_desc>EXFW_ROLL_P</short_desc>
    </parameter>
    <parameter default="0.2" name="EXFW_PITCH_P" type="FLOAT">
      <short_desc>EXFW_PITCH_P</short_desc>
    </parameter>
    <parameter default="0.1" name="RV_YAW_P" type="FLOAT">
      <short_desc>RV_YAW_P</short_desc>
    </parameter>
    <parameter default="0" name="COM_FLTMODE_CH" type="INT32">
      <short_desc>COM_FLTMODE_CH</short_desc>
    </parameter>
    <parameter default="0" 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="11">AUTO / TAKEOFF</value>
        <value code="10">RATTITUDE</value>
        <value code="12">AUTO / LAND</value>
        <value code="1">MANUAL</value>
        <value code="0">Unassigned</value>
        <value code="3">POSITION CONTROL</value>
        <value code="2">ALTITUDE CONTROL</value>
        <value code="5">AUTO / PAUSE</value>
        <value code="4">AUTO / MISSION</value>
        <value code="7">ACRO</value>
        <value code="6">RETURN TO LAUNCH</value>
        <value code="9">STABILIZED</value>
        <value code="8">OFFBOARD</value>
      </values>
    </parameter>
    <parameter default="0" 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="11">AUTO / TAKEOFF</value>
        <value code="10">RATTITUDE</value>
        <value code="12">AUTO / LAND</value>
        <value code="1">MANUAL</value>
        <value code="0">Unassigned</value>
        <value code="3">POSITION CONTROL</value>
        <value code="2">ALTITUDE CONTROL</value>
        <value code="5">AUTO / PAUSE</value>
        <value code="4">AUTO / MISSION</value>
        <value code="7">ACRO</value>
        <value code="6">RETURN TO LAUNCH</value>
        <value code="9">STABILIZED</value>
        <value code="8">OFFBOARD</value>
      </values>
    </parameter>
    <parameter default="0" 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="11">AUTO / TAKEOFF</value>
        <value code="10">RATTITUDE</value>
        <value code="12">AUTO / LAND</value>
        <value code="1">MANUAL</value>
        <value code="0">Unassigned</value>
        <value code="3">POSITION CONTROL</value>
        <value code="2">ALTITUDE CONTROL</value>
        <value code="5">AUTO / PAUSE</value>
        <value code="4">AUTO / MISSION</value>
        <value code="7">ACRO</value>
        <value code="6">RETURN TO LAUNCH</value>
        <value code="9">STABILIZED</value>
        <value code="8">OFFBOARD</value>
      </values>
    </parameter>
    <parameter default="0" 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="11">AUTO / TAKEOFF</value>
        <value code="10">RATTITUDE</value>
        <value code="12">AUTO / LAND</value>
        <value code="1">MANUAL</value>
        <value code="0">Unassigned</value>
        <value code="3">POSITION CONTROL</value>
        <value code="2">ALTITUDE CONTROL</value>
        <value code="5">AUTO / PAUSE</value>
        <value code="4">AUTO / MISSION</value>
        <value code="7">ACRO</value>
        <value code="6">RETURN TO LAUNCH</value>
        <value code="9">STABILIZED</value>
        <value code="8">OFFBOARD</value>
      </values>
    </parameter>
    <parameter default="0" name="COM_FLTMODE5" type="INT32">
      <short_desc>Fift 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="11">AUTO / TAKEOFF</value>
        <value code="10">RATTITUDE</value>
        <value code="12">AUTO / LAND</value>
        <value code="1">MANUAL</value>
        <value code="0">Unassigned</value>
        <value code="3">POSITION CONTROL</value>
        <value code="2">ALTITUDE CONTROL</value>
        <value code="5">AUTO / PAUSE</value>
        <value code="4">AUTO / MISSION</value>
        <value code="7">ACRO</value>
        <value code="6">RETURN TO LAUNCH</value>
        <value code="9">STABILIZED</value>
        <value code="8">OFFBOARD</value>
      </values>
    </parameter>
    <parameter default="0" name="COM_FLTMODE6" type="INT32">
      <short_desc>Sixt 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="11">AUTO / TAKEOFF</value>
        <value code="10">RATTITUDE</value>
        <value code="12">AUTO / LAND</value>
        <value code="1">MANUAL</value>
        <value code="0">Unassigned</value>
        <value code="3">POSITION CONTROL</value>
        <value code="2">ALTITUDE CONTROL</value>
        <value code="5">AUTO / PAUSE</value>
        <value code="4">AUTO / MISSION</value>
        <value code="7">ACRO</value>
        <value code="6">RETURN TO LAUNCH</value>
        <value code="9">STABILIZED</value>
        <value code="8">OFFBOARD</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="TEST_MIN" type="FLOAT">
      <short_desc>TEST_MIN</short_desc>
    </parameter>
    <parameter default="1.0" name="TEST_MAX" type="FLOAT">
      <short_desc>TEST_MAX</short_desc>
    </parameter>
    <parameter default="0.5" name="TEST_TRIM" type="FLOAT">
      <short_desc>TEST_TRIM</short_desc>
    </parameter>
    <parameter default="10.0" name="TEST_HP" type="FLOAT">
      <short_desc>TEST_HP</short_desc>
    </parameter>
    <parameter default="10.0" name="TEST_LP" type="FLOAT">
      <short_desc>TEST_LP</short_desc>
    </parameter>
    <parameter default="0.2" name="TEST_P" type="FLOAT">
      <short_desc>TEST_P</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="0.01" name="TEST_D" type="FLOAT">
      <short_desc>TEST_D</short_desc>
    </parameter>
    <parameter default="10.0" name="TEST_D_LP" type="FLOAT">
      <short_desc>TEST_D_LP</short_desc>
    </parameter>
    <parameter default="1.0" name="TEST_MEAN" type="FLOAT">
      <short_desc>TEST_MEAN</short_desc>
    </parameter>
    <parameter default="2.0" name="TEST_DEV" type="FLOAT">
      <short_desc>TEST_DEV</short_desc>
    </parameter>
    <parameter default="10.0" name="SEG_TH2V_P" type="FLOAT">
      <short_desc>SEG_TH2V_P</short_desc>
    </parameter>
    <parameter default="0.0" name="SEG_TH2V_I" type="FLOAT">
      <short_desc>SEG_TH2V_I</short_desc>
    </parameter>
    <parameter default="0.0" name="SEG_TH2V_I_MAX" type="FLOAT">
      <short_desc>SEG_TH2V_I_MAX</short_desc>
    </parameter>
    <parameter default="1.0" name="SEG_Q2V" type="FLOAT">
      <short_desc>SEG_Q2V</short_desc>
    </parameter>
    <parameter default="0" name="RC_MAP_FAILSAFE" type="INT32">
      <short_desc>Failsafe channel mapping</short_desc>
      <long_desc>The RC mapping index indicates which channel is used for failsafe If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific rc channel to use</long_desc>
      <min>0</min>
      <max>18</max>
    </parameter>
  </group>
</parameters>