ParameterMetaDataBackup.xml

<?xml version="1.0"?>
<Params>
  <ArduCopter2>
    <HS1_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS1_MIN>
    <HS1_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS1_TRIM>
    <HS1_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS1_MAX>
    <HS1_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </HS1_REV>
    <HS1_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </HS1_DZ>
    <HS2_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS2_MIN>
    <HS2_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS2_TRIM>
    <HS2_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS2_MAX>
    <HS2_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </HS2_REV>
    <HS2_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </HS2_DZ>
    <HS3_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS3_MIN>
    <HS3_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS3_TRIM>
    <HS3_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS3_MAX>
    <HS3_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </HS3_REV>
    <HS3_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </HS3_DZ>
    <HS4_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS4_MIN>
    <HS4_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS4_TRIM>
    <HS4_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS4_MAX>
    <HS4_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </HS4_REV>
    <HS4_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </HS4_DZ>
    <SS1_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS1_MIN>
    <SS1_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS1_TRIM>
    <SS1_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS1_MAX>
    <SS1_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </SS1_REV>
    <SS1_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </SS1_DZ>
    <SS2_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS2_MIN>
    <SS2_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS2_TRIM>
    <SS2_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS2_MAX>
    <SS2_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </SS2_REV>
    <SS2_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </SS2_DZ>
    <SS3_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS3_MIN>
    <SS3_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS3_TRIM>
    <SS3_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS3_MAX>
    <SS3_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </SS3_REV>
    <SS3_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </SS3_DZ>
    <SS4_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS4_MIN>
    <SS4_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS4_TRIM>
    <SS4_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS4_MAX>
    <SS4_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </SS4_REV>
    <SS4_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </SS4_DZ>
    <RC1_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MIN>
    <RC1_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_TRIM>
    <RC1_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MAX>
    <RC1_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC1_REV>
    <RC1_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC1_DZ>
    <RC2_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MIN>
    <RC2_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_TRIM>
    <RC2_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MAX>
    <RC2_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC2_REV>
    <RC2_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC2_DZ>
    <RC3_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MIN>
    <RC3_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_TRIM>
    <RC3_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MAX>
    <RC3_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC3_REV>
    <RC3_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC3_DZ>
    <RC4_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MIN>
    <RC4_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_TRIM>
    <RC4_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MAX>
    <RC4_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC4_REV>
    <RC4_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC4_DZ>
    <RC5_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MIN>
    <RC5_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_TRIM>
    <RC5_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MAX>
    <RC5_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC5_REV>
    <RC5_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC5_DZ>
    <RC5_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder</Values>
      <User>Standard</User>
    </RC5_FUNCTION>
    <RC6_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MIN>
    <RC6_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_TRIM>
    <RC6_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MAX>
    <RC6_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC6_REV>
    <RC6_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC6_DZ>
    <RC6_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder</Values>
      <User>Standard</User>
    </RC6_FUNCTION>
    <RC7_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MIN>
    <RC7_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_TRIM>
    <RC7_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MAX>
    <RC7_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC7_REV>
    <RC7_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC7_DZ>
    <RC7_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder</Values>
      <User>Standard</User>
    </RC7_FUNCTION>
    <RC8_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MIN>
    <RC8_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_TRIM>
    <RC8_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MAX>
    <RC8_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC8_REV>
    <RC8_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC8_DZ>
    <RC8_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder</Values>
      <User>Standard</User>
    </RC8_FUNCTION>
    <RC9_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MIN>
    <RC9_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_TRIM>
    <RC9_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MAX>
    <RC9_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC9_REV>
    <RC9_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC9_DZ>
    <RC9_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder</Values>
      <User>Standard</User>
    </RC9_FUNCTION>
    <RC10_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MIN>
    <RC10_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_TRIM>
    <RC10_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MAX>
    <RC10_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC10_REV>
    <RC10_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC10_DZ>
    <RC10_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder</Values>
      <User>Standard</User>
    </RC10_FUNCTION>
    <RC11_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MIN>
    <RC11_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_TRIM>
    <RC11_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MAX>
    <RC11_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC11_REV>
    <RC11_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC11_DZ>
    <RC11_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder</Values>
      <User>Standard</User>
    </RC11_FUNCTION>
    <RC12_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MIN>
    <RC12_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_TRIM>
    <RC12_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MAX>
    <RC12_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC12_REV>
    <RC12_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC12_DZ>
    <RC12_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder</Values>
      <User>Standard</User>
    </RC12_FUNCTION>
    <CAM_TRIGG_TYPE>
      <DisplayName>Camera shutter (trigger) type</DisplayName>
      <Description>how to trigger the camera to take a picture</Description>
      <Values>0:Servo,1:Relay</Values>
      <User>Standard</User>
    </CAM_TRIGG_TYPE>
    <CAM_DURATION>
      <DisplayName>Duration that shutter is held open</DisplayName>
      <Description>How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)</Description>
      <Range>0 50</Range>
      <User>Standard</User>
    </CAM_DURATION>
    <CAM_SERVO_ON>
      <DisplayName>Servo ON PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is activated</Description>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_ON>
    <CAM_SERVO_OFF>
      <DisplayName>Servo OFF PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is deactivated</Description>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_OFF>
    <CAM_TRIGG_DIST>
      <DisplayName>Camera trigger distance</DisplayName>
      <Description>Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.</Description>
      <User>Standard</User>
      <Range>0 1000</Range>
    </CAM_TRIGG_DIST>
    <RELAY_PIN>
      <DisplayName>First Relay Pin</DisplayName>
      <Description>Digital pin number for first relay control. This is the pin used for camera control.</Description>
      <User>Standard</User>
      <Values>13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN>
    <RELAY_PIN2>
      <DisplayName>Second Relay Pin</DisplayName>
      <Description>Digital pin number for 2nd relay control.</Description>
      <User>Standard</User>
      <Values>13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN2>
    <RELAY_PIN3>
      <DisplayName>Third Relay Pin</DisplayName>
      <Description>Digital pin number for 3rd relay control.</Description>
      <User>Standard</User>
      <Values>13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN3>
    <RELAY_PIN4>
      <DisplayName>Fourth Relay Pin</DisplayName>
      <Description>Digital pin number for 4th relay control.</Description>
      <User>Standard</User>
      <Values>13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN4>
    <EPM_ENABLE>
      <DisplayName>EPM Enable/Disable</DisplayName>
      <Description>EPM enable/disable.  Note enabling will disable the external LEDs on the APM2</Description>
      <User>Standard</User>
      <Values>0:Disabled, 1:Enabled</Values>
    </EPM_ENABLE>
    <COMPASS_OFS_X>
      <DisplayName>Compass offsets on the X axis</DisplayName>
      <Description>Offset to be added to the compass x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_X>
    <COMPASS_OFS_Y>
      <DisplayName>Compass offsets on the Y axis</DisplayName>
      <Description>Offset to be added to the compass y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Y>
    <COMPASS_OFS_Z>
      <DisplayName>Compass offsets on the Z axis</DisplayName>
      <Description>Offset to be added to the compass z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Z>
    <COMPASS_DEC>
      <DisplayName>Compass declination</DisplayName>
      <Description>An angle to compensate between the true north and magnetic north</Description>
      <Range>-3.142 3.142</Range>
      <Units>Radians</Units>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </COMPASS_DEC>
    <COMPASS_LEARN>
      <DisplayName>Learn compass offsets automatically</DisplayName>
      <Description>Enable or disable the automatic learning of compass offsets</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_LEARN>
    <COMPASS_USE>
      <DisplayName>Use compass for yaw</DisplayName>
      <Description>Enable or disable the use of the compass (instead of the GPS) for determining heading</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE>
    <COMPASS_AUTODEC>
      <DisplayName>Auto Declination</DisplayName>
      <Description>Enable or disable the automatic calculation of the declination based on gps location</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_AUTODEC>
    <COMPASS_MOTCT>
      <DisplayName>Motor interference compensation type</DisplayName>
      <Description>Set motor interference compensation type to disabled, throttle or current.  Do not change manually.</Description>
      <Values>0:Disabled,1:Use Throttle,2:Use Current</Values>
      <Increment>1</Increment>
    </COMPASS_MOTCT>
    <COMPASS_MOT_X>
      <DisplayName>Motor interference compensation for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_X>
    <COMPASS_MOT_Y>
      <DisplayName>Motor interference compensation for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Y>
    <COMPASS_MOT_Z>
      <DisplayName>Motor interference compensation for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Z>
    <COMPASS_ORIENT>
      <DisplayName>Compass orientation</DisplayName>
      <Description>The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
    </COMPASS_ORIENT>
    <COMPASS_EXTERNAL>
      <DisplayName>Compass is attached via an external cable</DisplayName>
      <Description>Configure compass so it is attached externally. This is auto-detected on PX4, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL>
    <INS_PRODUCT_ID>
      <DisplayName>IMU Product ID</DisplayName>
      <Description>Which type of IMU is installed (read-only).</Description>
      <User>Advanced</User>
      <Values>0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux</Values>
    </INS_PRODUCT_ID>
    <INS_ACCSCAL_X>
      <DisplayName>Accelerometer scaling of X axis</DisplayName>
      <Description>Accelerometer scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_X>
    <INS_ACCSCAL_Y>
      <DisplayName>Accelerometer scaling of Y axis</DisplayName>
      <Description>Accelerometer scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Y>
    <INS_ACCSCAL_Z>
      <DisplayName>Accelerometer scaling of Z axis</DisplayName>
      <Description>Accelerometer scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Z>
    <INS_ACCOFFS_X>
      <DisplayName>Accelerometer offsets of X axis</DisplayName>
      <Description>Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_X>
    <INS_ACCOFFS_Y>
      <DisplayName>Accelerometer offsets of Y axis</DisplayName>
      <Description>Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Y>
    <INS_ACCOFFS_Z>
      <DisplayName>Accelerometer offsets of Z axis</DisplayName>
      <Description>Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Z>
    <INS_GYROFFS_X>
      <DisplayName>Gyro offsets of X axis</DisplayName>
      <Description>Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_X>
    <INS_GYROFFS_Y>
      <DisplayName>Gyro offsets of Y axis</DisplayName>
      <Description>Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Y>
    <INS_GYROFFS_Z>
      <DisplayName>Gyro offsets of Z axis</DisplayName>
      <Description>Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Z>
    <INS_MPU6K_FILTER>
      <DisplayName>MPU6000 filter frequency</DisplayName>
      <Description>Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation</Description>
      <Units>Hz</Units>
      <Values>0:Default,5:5Hz,10:10Hz,20:20Hz,42:42Hz,98:98Hz</Values>
      <User>Advanced</User>
    </INS_MPU6K_FILTER>
    <INAV_TC_XY>
      <DisplayName>Horizontal Time Constant</DisplayName>
      <Description>Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate</Description>
      <Range>0 10</Range>
      <Increment>0.1</Increment>
    </INAV_TC_XY>
    <INAV_TC_Z>
      <DisplayName>Vertical Time Constant</DisplayName>
      <Description>Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate</Description>
      <Range>0 10</Range>
      <Increment>0.1</Increment>
    </INAV_TC_Z>
    <WPNAV_SPEED>
      <DisplayName>Waypoint Horizontal Speed Target</DisplayName>
      <Description>Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission</Description>
      <Units>cm/s</Units>
      <Range>0 2000</Range>
      <Increment>50</Increment>
      <User>Standard</User>
    </WPNAV_SPEED>
    <WPNAV_RADIUS>
      <DisplayName>Waypoint Radius</DisplayName>
      <Description>Defines the distance from a waypoint, that when crossed indicates the wp has been hit.</Description>
      <Units>cm</Units>
      <Range>100 1000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </WPNAV_RADIUS>
    <WPNAV_SPEED_UP>
      <DisplayName>Waypoint Climb Speed Target</DisplayName>
      <Description>Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission</Description>
      <Units>cm/s</Units>
      <Range>0 1000</Range>
      <Increment>50</Increment>
      <User>Standard</User>
    </WPNAV_SPEED_UP>
    <WPNAV_SPEED_DN>
      <DisplayName>Waypoint Descent Speed Target</DisplayName>
      <Description>Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission</Description>
      <Units>cm/s</Units>
      <Range>0 1000</Range>
      <Increment>50</Increment>
      <User>Standard</User>
    </WPNAV_SPEED_DN>
    <WPNAV_LOIT_SPEED>
      <DisplayName>Loiter Horizontal Maximum Speed</DisplayName>
      <Description>Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode</Description>
      <Units>cm/s</Units>
      <Range>0 2000</Range>
      <Increment>50</Increment>
      <User>Standard</User>
    </WPNAV_LOIT_SPEED>
    <WPNAV_ACCEL>
      <DisplayName>Waypoint Acceleration</DisplayName>
      <Description>Defines the horizontal acceleration in cm/s/s used during missions</Description>
      <Units>cm/s/s</Units>
      <Range>0 980</Range>
      <Increment>10</Increment>
      <User>Standard</User>
    </WPNAV_ACCEL>
    <AHRS_GPS_GAIN>
      <DisplayName>AHRS GPS gain</DisplayName>
      <Description>This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.</Description>
      <Range>0.0 1.0</Range>
      <Increment>.01</Increment>
    </AHRS_GPS_GAIN>
    <AHRS_GPS_USE>
      <DisplayName>AHRS use GPS for navigation</DisplayName>
      <Description>This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_GPS_USE>
    <AHRS_YAW_P>
      <DisplayName>Yaw P</DisplayName>
      <Description>This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_YAW_P>
    <AHRS_RP_P>
      <DisplayName>AHRS RP_P</DisplayName>
      <Description>This controls how fast the accelerometers correct the attitude</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_RP_P>
    <AHRS_WIND_MAX>
      <DisplayName>Maximum wind</DisplayName>
      <Description>This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.</Description>
      <Range>0 127</Range>
      <Units>m/s</Units>
      <Increment>1</Increment>
    </AHRS_WIND_MAX>
    <AHRS_TRIM_X>
      <DisplayName>AHRS Trim Roll</DisplayName>
      <Description>Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_X>
    <AHRS_TRIM_Y>
      <DisplayName>AHRS Trim Pitch</DisplayName>
      <Description>Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_Y>
    <AHRS_TRIM_Z>
      <DisplayName>AHRS Trim Yaw</DisplayName>
      <Description>Not Used</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </AHRS_TRIM_Z>
    <AHRS_ORIENTATION>
      <DisplayName>Board Orientation</DisplayName>
      <Description>Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
      <User>Advanced</User>
    </AHRS_ORIENTATION>
    <AHRS_COMP_BETA>
      <DisplayName>AHRS Velocity Complmentary Filter Beta Coefficient</DisplayName>
      <Description>This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.</Description>
      <Range>0.001 0.5</Range>
      <Increment>.01</Increment>
      <User>Advanced</User>
    </AHRS_COMP_BETA>
    <AHRS_GPS_MINSATS>
      <DisplayName>AHRS GPS Minimum satellites</DisplayName>
      <Description>Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.</Description>
      <Range>0 10</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </AHRS_GPS_MINSATS>
    <AHRS_GPS_DELAY>
      <DisplayName>AHRS GPS delay steps</DisplayName>
      <Description>number of GPS samples to delay accels for synchronisation with the GPS velocity data</Description>
      <Range>0 5</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </AHRS_GPS_DELAY>
    <MNT_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT_MODE>
    <MNT_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_X>
    <MNT_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Y>
    <MNT_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Z>
    <MNT_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_X>
    <MNT_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Y>
    <MNT_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Z>
    <MNT_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_X>
    <MNT_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Y>
    <MNT_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Z>
    <MNT_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_ROLL>
    <MNT_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_TILT>
    <MNT_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_PAN>
    <MNT_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_ROLL>
    <MNT_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_ROL>
    <MNT_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_ROL>
    <MNT_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_TILT>
    <MNT_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_TIL>
    <MNT_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_TIL>
    <MNT_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_PAN>
    <MNT_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_PAN>
    <MNT_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_PAN>
    <MNT_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_JSTICK_SPD>
    <MNT2_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT2_MODE>
    <MNT2_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_X>
    <MNT2_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_Y>
    <MNT2_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_Z>
    <MNT2_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_X>
    <MNT2_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_Y>
    <MNT2_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_Z>
    <MNT2_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_X>
    <MNT2_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_Y>
    <MNT2_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_Z>
    <MNT2_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_ROLL>
    <MNT2_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_TILT>
    <MNT2_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_PAN>
    <MNT2_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_ROLL>
    <MNT2_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_ROL>
    <MNT2_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_ROL>
    <MNT2_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_TILT>
    <MNT2_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_TIL>
    <MNT2_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_TIL>
    <MNT2_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_PAN>
    <MNT2_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_PAN>
    <MNT2_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_PAN>
    <MNT2_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_JSTICK_SPD>
    <BATT_MONITOR>
      <DisplayName>Battery monitoring</DisplayName>
      <Description>Controls enabling monitoring of the battery's voltage and current</Description>
      <Values>0:Disabled,3:Voltage Only,4:Voltage and Current</Values>
      <User>Standard</User>
    </BATT_MONITOR>
    <BATT_VOLT_PIN>
      <DisplayName>Battery Voltage sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.</Description>
      <Values>-1:Disabled, 0:A0, 1:A1, 2:Pixhawk, 13:A13, 100:PX4</Values>
      <User>Standard</User>
    </BATT_VOLT_PIN>
    <BATT_CURR_PIN>
      <DisplayName>Battery Current sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.</Description>
      <Values>-1:Disabled, 1:A1, 2:A2, 3:Pixhawk, 12:A12, 101:PX4</Values>
      <User>Standard</User>
    </BATT_CURR_PIN>
    <BATT_VOLT_MULT>
      <DisplayName>Voltage Multiplier</DisplayName>
      <Description>Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.</Description>
      <User>Advanced</User>
    </BATT_VOLT_MULT>
    <BATT_AMP_PERVOLT>
      <DisplayName>Amps per volt</DisplayName>
      <Description>Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.</Description>
      <Units>A/V</Units>
      <User>Standard</User>
    </BATT_AMP_PERVOLT>
    <BATT_AMP_OFFSET>
      <DisplayName>AMP offset</DisplayName>
      <Description>Voltage offset at zero current on current sensor</Description>
      <Units>Volts</Units>
      <User>Standard</User>
    </BATT_AMP_OFFSET>
    <BATT_CAPACITY>
      <DisplayName>Battery capacity</DisplayName>
      <Description>Capacity of the battery in mAh when full</Description>
      <Units>mAh</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </BATT_CAPACITY>
    <BRD_PWM_COUNT>
      <DisplayName>PWM Count</DisplayName>
      <Description>Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.</Description>
      <Values>0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs</Values>
    </BRD_PWM_COUNT>
    <SPRAYER_ENABLE>
      <DisplayName>Sprayer enable/disable</DisplayName>
      <Description>Allows you to enable (1) or disable (0) the sprayer</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </SPRAYER_ENABLE>
    <SPRAYER_PUMP_RATE>
      <DisplayName>Pump speed</DisplayName>
      <Description>Desired pump speed when travelling 1m/s expressed as a percentage</Description>
      <Units>percentage</Units>
      <Range>0 100</Range>
      <User>Standard</User>
    </SPRAYER_PUMP_RATE>
    <SPRAYER_SPINNER>
      <DisplayName>Spinner rotation speed</DisplayName>
      <Description>Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)</Description>
      <Units>ms</Units>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </SPRAYER_SPINNER>
    <SPRAYER_SPEED_MIN>
      <DisplayName>Speed minimum</DisplayName>
      <Description>Speed minimum at which we will begin spraying</Description>
      <Units>cm/s</Units>
      <Range>0 1000</Range>
      <User>Standard</User>
    </SPRAYER_SPEED_MIN>
    <SPRAYER_PUMP_MIN>
      <DisplayName>Pump speed minimum</DisplayName>
      <Description>Minimum pump speed expressed as a percentage</Description>
      <Units>percentage</Units>
      <Range>0 100</Range>
      <User>Standard</User>
    </SPRAYER_PUMP_MIN>
    <GND_ABS_PRESS>
      <DisplayName>Absolute Pressure</DisplayName>
      <Description>calibrated ground pressure in Pascals</Description>
      <Increment>1</Increment>
    </GND_ABS_PRESS>
    <GND_TEMP>
      <DisplayName>ground temperature</DisplayName>
      <Description>calibrated ground temperature in degrees Celsius</Description>
      <Increment>1</Increment>
    </GND_TEMP>
    <GND_ALT_OFFSET>
      <DisplayName>altitude offset</DisplayName>
      <Description>altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.</Description>
      <Units>meters</Units>
      <Range>-128 127</Range>
      <Increment>1</Increment>
    </GND_ALT_OFFSET>
    <SCHED_DEBUG>
      <DisplayName>Scheduler debug level</DisplayName>
      <Description>Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.</Description>
      <Values>0:Disabled,2:ShowSlips,3:ShowOverruns</Values>
      <User>Advanced</User>
    </SCHED_DEBUG>
    <FENCE_ENABLE>
      <DisplayName>Fence enable/disable</DisplayName>
      <Description>Allows you to enable (1) or disable (0) the fence functionality</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </FENCE_ENABLE>
    <FENCE_TYPE>
      <DisplayName>Fence Type</DisplayName>
      <Description>Enabled fence types held as bitmask</Description>
      <Values>0:None,1:Altitude,2:Circle,3:Altitude and Circle</Values>
      <User>Standard</User>
    </FENCE_TYPE>
    <FENCE_ACTION>
      <DisplayName>Fence Action</DisplayName>
      <Description>What action should be taken when fence is breached</Description>
      <Values>0:Report Only,1:RTL or Land</Values>
      <User>Standard</User>
    </FENCE_ACTION>
    <FENCE_ALT_MAX>
      <DisplayName>Fence Maximum Altitude</DisplayName>
      <Description>Maximum altitude allowed before geofence triggers</Description>
      <Units>Meters</Units>
      <Range>10 1000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FENCE_ALT_MAX>
    <FENCE_RADIUS>
      <DisplayName>Circular Fence Radius</DisplayName>
      <Description>Circle fence radius which when breached will cause an RTL</Description>
      <Units>Meters</Units>
      <Range>30 10000</Range>
      <User>Standard</User>
    </FENCE_RADIUS>
    <FENCE_MARGIN>
      <DisplayName>Fence Margin</DisplayName>
      <Description>Distance that autopilot's should maintain from the fence to avoid a breach</Description>
      <Units>Meters</Units>
      <Range>1 10</Range>
      <User>Standard</User>
    </FENCE_MARGIN>
    <GPSGLITCH_ENABLE>
      <DisplayName>GPS Glitch protection enable/disable</DisplayName>
      <Description>Allows you to enable (1) or disable (0) gps glitch protection</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </GPSGLITCH_ENABLE>
    <GPSGLITCH_RADIUS>
      <DisplayName>GPS glitch protection radius within which all new positions are accepted</DisplayName>
      <Description>GPS glitch protection radius within which all new positions are accepted</Description>
      <Units>cm</Units>
      <Range>100 2000</Range>
      <Increment>100</Increment>
      <User>Advanced</User>
    </GPSGLITCH_RADIUS>
    <GPSGLITCH_ACCEL>
      <DisplayName>GPS glitch protection's max vehicle acceleration assumption</DisplayName>
      <Description>GPS glitch protection's max vehicle acceleration assumption</Description>
      <Units>cm/s/s</Units>
      <Range>100 2000</Range>
      <Increment>100</Increment>
      <User>Advanced</User>
    </GPSGLITCH_ACCEL>
    <H_SV1_POS>
      <DisplayName>Servo 1 Position</DisplayName>
      <Description>Angular location of swash servo #1</Description>
      <Range>-180 180</Range>
      <Units>Degrees</Units>
      <User>Standard</User>
      <Increment>1</Increment>
    </H_SV1_POS>
    <H_SV2_POS>
      <DisplayName>Servo 2 Position</DisplayName>
      <Description>Angular location of swash servo #2</Description>
      <Range>-180 180</Range>
      <Units>Degrees</Units>
      <User>Standard</User>
      <Increment>1</Increment>
    </H_SV2_POS>
    <H_SV3_POS>
      <DisplayName>Servo 3 Position</DisplayName>
      <Description>Angular location of swash servo #3</Description>
      <Range>-180 180</Range>
      <Units>Degrees</Units>
      <User>Standard</User>
      <Increment>1</Increment>
    </H_SV3_POS>
    <H_ROL_MAX>
      <DisplayName>Swash Roll Angle Max</DisplayName>
      <Description>Maximum roll angle of the swash plate</Description>
      <Range>0 18000</Range>
      <Units>Centi-Degrees</Units>
      <Increment>100</Increment>
      <User>Advanced</User>
    </H_ROL_MAX>
    <H_PIT_MAX>
      <DisplayName>Swash Pitch Angle Max</DisplayName>
      <Description>Maximum pitch angle of the swash plate</Description>
      <Range>0 18000</Range>
      <Units>Centi-Degrees</Units>
      <Increment>100</Increment>
      <User>Advanced</User>
    </H_PIT_MAX>
    <H_COL_MIN>
      <DisplayName>Collective Pitch Minimum</DisplayName>
      <Description>Lowest possible servo position for the swashplate</Description>
      <Range>1000 2000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_COL_MIN>
    <H_COL_MAX>
      <DisplayName>Collective Pitch Maximum</DisplayName>
      <Description>Highest possible servo position for the swashplate</Description>
      <Range>1000 2000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_COL_MAX>
    <H_COL_MID>
      <DisplayName>Collective Pitch Mid-Point</DisplayName>
      <Description>Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades)</Description>
      <Range>1000 2000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_COL_MID>
    <H_TAIL_TYPE>
      <DisplayName>Tail Type</DisplayName>
      <Description>Tail type selection.  Simpler yaw controller used if external gyro is selected</Description>
      <Values>0:Servo only,1:Servo with ExtGyro,2:DirectDrive VarPitch,3:DirectDrive FixedPitch</Values>
      <User>Standard</User>
    </H_TAIL_TYPE>
    <H_SWASH_TYPE>
      <DisplayName>Swash Type</DisplayName>
      <Description>Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing</Description>
      <Values>0:3-Servo CCPM, 1:H1 Mechanical Mixing</Values>
      <User>Standard</User>
    </H_SWASH_TYPE>
    <H_GYR_GAIN>
      <DisplayName>External Gyro Gain</DisplayName>
      <Description>PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro</Description>
      <Range>0 1000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_GYR_GAIN>
    <H_SV_MAN>
      <DisplayName>Manual Servo Mode</DisplayName>
      <Description>Pass radio inputs directly to servos for set-up. Do not set this manually!</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </H_SV_MAN>
    <H_PHANG>
      <DisplayName>Swashplate Phase Angle Compensation</DisplayName>
      <Description>Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem</Description>
      <Range>-90 90</Range>
      <Units>Degrees</Units>
      <User>Advanced</User>
      <Increment>1</Increment>
    </H_PHANG>
    <H_COLYAW>
      <DisplayName>Collective-Yaw Mixing</DisplayName>
      <Description>Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.</Description>
      <Range>-10 10</Range>
    </H_COLYAW>
    <H_GOV_SETPOINT>
      <DisplayName>External Motor Governor Setpoint</DisplayName>
      <Description>PWM passed to the external motor governor when external governor is enabled</Description>
      <Range>0 1000</Range>
      <Units>PWM</Units>
      <Increment>10</Increment>
      <User>Standard</User>
    </H_GOV_SETPOINT>
    <H_RSC_MODE>
      <DisplayName>Rotor Speed Control Mode</DisplayName>
      <Description>Controls the source of the desired rotor speed, either ch8 or RSC_SETPOINT</Description>
      <Values>0:None, 1:Ch8 Input, 2:SetPoint</Values>
      <User>Standard</User>
    </H_RSC_MODE>
    <H_FLYBAR_MODE>
      <DisplayName>Flybar Mode Selector</DisplayName>
      <Description>Flybar present or not.  Affects attitude controller used during ACRO flight mode</Description>
      <Range>0:NoFlybar 1:Flybar</Range>
      <User>Standard</User>
    </H_FLYBAR_MODE>
    <H_LAND_COL_MIN>
      <DisplayName>Landing Collective Minimum</DisplayName>
      <Description>Minimum collective position while landed or landing</Description>
      <Range>0 500</Range>
      <Units>pwm</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_LAND_COL_MIN>
    <H_RSC_RAMP_TIME>
      <DisplayName>RSC Ramp Time</DisplayName>
      <Description>Time in seconds for the output to the main rotor's ESC to reach full speed</Description>
      <Range>0 60</Range>
      <Units>Seconds</Units>
      <User>Standard</User>
    </H_RSC_RAMP_TIME>
    <H_RSC_RUNUP_TIME>
      <DisplayName>RSC Runup Time</DisplayName>
      <Description>Time in seconds for the main rotor to reach full speed.  Must be longer than RSC_RAMP_TIME</Description>
      <Range>0 60</Range>
      <Units>Seconds</Units>
      <User>Standard</User>
    </H_RSC_RUNUP_TIME>
    <H_TAIL_SPEED>
      <DisplayName>Direct Drive VarPitch Tail ESC speed</DisplayName>
      <Description>Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch</Description>
      <Range>0 1000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_TAIL_SPEED>
    <MOT_TCRV_ENABLE>
      <DisplayName>Thrust Curve Enable</DisplayName>
      <Description>Controls whether a curve is used to linearize the thrust produced by the motors</Description>
      <User>Advanced</User>
      <Values>0:Disabled,1:Enable</Values>
    </MOT_TCRV_ENABLE>
    <MOT_TCRV_MIDPCT>
      <DisplayName>Thrust Curve mid-point percentage</DisplayName>
      <Description>Set the pwm position that produces half the maximum thrust of the motors</Description>
      <User>Advanced</User>
      <Range>20 80</Range>
      <Increment>1</Increment>
    </MOT_TCRV_MIDPCT>
    <MOT_TCRV_MAXPCT>
      <DisplayName>Thrust Curve max thrust percentage</DisplayName>
      <Description>Set to the lowest pwm position that produces the maximum thrust of the motors.  Most motors produce maximum thrust below the maximum pwm value that they accept.</Description>
      <User>Advanced</User>
      <Range>20 80</Range>
      <Increment>1</Increment>
    </MOT_TCRV_MAXPCT>
    <MOT_SPIN_ARMED>
      <DisplayName>Motors always spin when armed</DisplayName>
      <Description>Controls whether motors always spin when armed (must be below THR_MIN)</Description>
      <Values>0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast</Values>
      <User>Standard</User>
    </MOT_SPIN_ARMED>
    <MOT_REV_ROLL>
      <DisplayName>Reverse roll feedback</DisplayName>
      <Description>Ensure the feedback is negative</Description>
      <Values>-1:Opposite direction,1:Same direction</Values>
    </MOT_REV_ROLL>
    <MOT_REV_PITCH>
      <DisplayName>Reverse roll feedback</DisplayName>
      <Description>Ensure the feedback is negative</Description>
      <Values>-1:Opposite direction,1:Same direction</Values>
    </MOT_REV_PITCH>
    <MOT_SV_SPEED>
      <DisplayName>Servo speed</DisplayName>
      <Description>Servo update speed</Description>
      <Values>-1:Opposite direction,1:Same direction</Values>
    </MOT_SV_SPEED>
    <RCMAP_ROLL>
      <DisplayName>Roll channel</DisplayName>
      <Description>Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_ROLL>
    <RCMAP_PITCH>
      <DisplayName>Pitch channel</DisplayName>
      <Description>Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_PITCH>
    <RCMAP_THROTTLE>
      <DisplayName>Throttle channel</DisplayName>
      <Description>Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_THROTTLE>
    <RCMAP_YAW>
      <DisplayName>Yaw channel</DisplayName>
      <Description>Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_YAW>
    <SYSID_SW_MREV>
      <DisplayName>Eeprom format version number</DisplayName>
      <Description>This value is incremented when changes are made to the eeprom format</Description>
      <User>Advanced</User>
    </SYSID_SW_MREV>
    <SYSID_SW_TYPE>
      <DisplayName>Software Type</DisplayName>
      <Description>This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)</Description>
      <User>Advanced</User>
    </SYSID_SW_TYPE>
    <SYSID_THISMAV>
      <DisplayName>Mavlink version</DisplayName>
      <Description>Allows reconising the mavlink version</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_THISMAV>
    <SYSID_MYGCS>
      <DisplayName>My ground station number</DisplayName>
      <Description>Allows restricting radio overrides to only come from my ground station</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_MYGCS>
    <SERIAL1_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the first telemetry port</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200</Values>
      <User>Standard</User>
    </SERIAL1_BAUD>
    <SERIAL2_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the seconds telemetry port</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200</Values>
      <User>Standard</User>
    </SERIAL2_BAUD>
    <TELEM_DELAY>
      <DisplayName>Telemetry startup delay</DisplayName>
      <Description>The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up</Description>
      <User>Advanced</User>
      <Units>seconds</Units>
      <Range>0 10</Range>
      <Increment>1</Increment>
    </TELEM_DELAY>
    <RTL_ALT>
      <DisplayName>RTL Altitude</DisplayName>
      <Description>The minimum altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude.</Description>
      <Units>Centimeters</Units>
      <Range>0 8000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RTL_ALT>
    <SONAR_ENABLE>
      <DisplayName>Sonar enable/disable</DisplayName>
      <Description>Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </SONAR_ENABLE>
    <SONAR_TYPE>
      <DisplayName>Sonar type</DisplayName>
      <Description>Used to adjust scaling to match the sonar used (only Maxbotix sonars are supported at this time)</Description>
      <Values>0:XL-EZ0 / XL-EZ4,1:LV-EZ0,2:XLL-EZ0,3:HRLV</Values>
      <User>Standard</User>
    </SONAR_TYPE>
    <SONAR_GAIN>
      <DisplayName>Sonar gain</DisplayName>
      <Description>Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter</Description>
      <Range>0.01 2.0</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </SONAR_GAIN>
    <FS_BATT_ENABLE>
      <DisplayName>Battery Failsafe Enable</DisplayName>
      <Description>Controls whether failsafe will be invoked when battery voltage or current runs low</Description>
      <Values>0:Disabled,1:Land,2:RTL</Values>
      <User>Standard</User>
    </FS_BATT_ENABLE>
    <FS_BATT_VOLTAGE>
      <DisplayName>Failsafe battery voltage</DisplayName>
      <Description>Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL</Description>
      <Units>Volts</Units>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </FS_BATT_VOLTAGE>
    <FS_BATT_MAH>
      <DisplayName>Failsafe battery milliAmpHours</DisplayName>
      <Description>Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL</Description>
      <Units>mAh</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </FS_BATT_MAH>
    <FS_GPS_ENABLE>
      <DisplayName>GPS Failsafe Enable</DisplayName>
      <Description>Controls what action will be taken if GPS signal is lost for at least 5 seconds</Description>
      <Values>0:Disabled,1:Land,2:AltHold,3:Land even from Stabilize</Values>
      <User>Standard</User>
    </FS_GPS_ENABLE>
    <FS_GCS_ENABLE>
      <DisplayName>Ground Station Failsafe Enable</DisplayName>
      <Description>Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds</Description>
      <Values>0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode</Values>
      <User>Standard</User>
    </FS_GCS_ENABLE>
    <GPS_HDOP_GOOD>
      <DisplayName>GPS Hdop Good</DisplayName>
      <Description>GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks</Description>
      <Range>100 900</Range>
      <User>Advanced</User>
    </GPS_HDOP_GOOD>
    <MAG_ENABLE>
      <DisplayName>Compass enable/disable</DisplayName>
      <Description>Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MAG_ENABLE>
    <FLOW_ENABLE>
      <DisplayName>Optical Flow enable/disable</DisplayName>
      <Description>Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </FLOW_ENABLE>
    <SUPER_SIMPLE>
      <DisplayName>Super Simple Mode</DisplayName>
      <Description>Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode</Description>
      <Values>0:Disabled,1:Mode1,2:Mode2,3:Mode1+2,4:Mode3,5:Mode1+3,6:Mode2+3,7:Mode1+2+3,8:Mode4,9:Mode1+4,10:Mode2+4,11:Mode1+2+4,12:Mode3+4,13:Mode1+3+4,14:Mode2+3+4,15:Mode1+2+3+4,16:Mode5,17:Mode1+5,18:Mode2+5,19:Mode1+2+5,20:Mode3+5,21:Mode1+3+5,22:Mode2+3+5,23:Mode1+2+3+5,24:Mode4+5,25:Mode1+4+5,26:Mode2+4+5,27:Mode1+2+4+5,28:Mode3+4+5,29:Mode1+3+4+5,30:Mode2+3+4+5,31:Mode1+2+3+4+5,32:Mode6,33:Mode1+6,34:Mode2+6,35:Mode1+2+6,36:Mode3+6,37:Mode1+3+6,38:Mode2+3+6,39:Mode1+2+3+6,40:Mode4+6,41:Mode1+4+6,42:Mode2+4+6,43:Mode1+2+4+6,44:Mode3+4+6,45:Mode1+3+4+6,46:Mode2+3+4+6,47:Mode1+2+3+4+6,48:Mode5+6,49:Mode1+5+6,50:Mode2+5+6,51:Mode1+2+5+6,52:Mode3+5+6,53:Mode1+3+5+6,54:Mode2+3+5+6,55:Mode1+2+3+5+6,56:Mode4+5+6,57:Mode1+4+5+6,58:Mode2+4+5+6,59:Mode1+2+4+5+6,60:Mode3+4+5+6,61:Mode1+3+4+5+6,62:Mode2+3+4+5+6,63:Mode1+2+3+4+5+6</Values>
      <User>Standard</User>
    </SUPER_SIMPLE>
    <RTL_ALT_FINAL>
      <DisplayName>RTL Final Altitude</DisplayName>
      <Description>This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land.</Description>
      <Units>Centimeters</Units>
      <Range>-1 1000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RTL_ALT_FINAL>
    <RSSI_PIN>
      <DisplayName>Receiver RSSI sensing pin</DisplayName>
      <Description>This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is RSSI_RANGE for max rssi, 0V for minimum</Description>
      <Values>-1:Disabled, 0:A0, 1:A1, 2:A2, 13:A13</Values>
      <User>Standard</User>
    </RSSI_PIN>
    <RSSI_RANGE>
      <DisplayName>Receiver RSSI voltage range</DisplayName>
      <Description>Receiver RSSI voltage range</Description>
      <Units>Volt</Units>
      <Values>3.3:3.3V, 5.0:5V</Values>
      <User>Standard</User>
    </RSSI_RANGE>
    <WP_YAW_BEHAVIOR>
      <DisplayName>Yaw behaviour during missions</DisplayName>
      <Description>Determines how the autopilot controls the yaw during missions and RTL</Description>
      <Values>0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course</Values>
      <User>Standard</User>
    </WP_YAW_BEHAVIOR>
    <WP_TOTAL>
      <DisplayName>Waypoint Total</DisplayName>
      <Description>Total number of commands in the mission stored in the eeprom.  Do not update this parameter directly!</Description>
      <User>Advanced</User>
    </WP_TOTAL>
    <WP_INDEX>
      <DisplayName>Waypoint Index</DisplayName>
      <Description>The index number of the command that is currently being executed.  Do not update this parameter directly!</Description>
      <User>Advanced</User>
    </WP_INDEX>
    <CIRCLE_RADIUS>
      <DisplayName>Circle radius</DisplayName>
      <Description>Defines the radius of the circle the vehicle will fly when in Circle flight mode</Description>
      <Units>Meters</Units>
      <Range>1 127</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </CIRCLE_RADIUS>
    <CIRCLE_RATE>
      <DisplayName>Circle rate</DisplayName>
      <Description>Circle mode's turn rate in degrees / second.  Positive to turn clockwise, negative for counter clockwise</Description>
      <Units>deg/s</Units>
      <Range>-90 90</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </CIRCLE_RATE>
    <RTL_LOIT_TIME>
      <DisplayName>RTL loiter time</DisplayName>
      <Description>Time (in milliseconds) to loiter above home before begining final descent</Description>
      <Units>ms</Units>
      <Range>0 60000</Range>
      <Increment>1000</Increment>
      <User>Standard</User>
    </RTL_LOIT_TIME>
    <LAND_SPEED>
      <DisplayName>Land speed</DisplayName>
      <Description>The descent speed for the final stage of landing in cm/s</Description>
      <Units>cm/s</Units>
      <Range>30 200</Range>
      <Increment>10</Increment>
      <User>Standard</User>
    </LAND_SPEED>
    <PILOT_VELZ_MAX>
      <DisplayName>Pilot maximum vertical speed</DisplayName>
      <Description>The maximum vertical velocity the pilot may request in cm/s</Description>
      <Units>Centimeters/Second</Units>
      <Range>10 500</Range>
      <Increment>10</Increment>
      <User>Standard</User>
    </PILOT_VELZ_MAX>
    <THR_MIN>
      <DisplayName>Throttle Minimum</DisplayName>
      <Description>The minimum throttle that will be sent to the motors to keep them spinning</Description>
      <Units>Percent*10</Units>
      <Range>0 300</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MIN>
    <THR_MAX>
      <DisplayName>Throttle Maximum</DisplayName>
      <Description>The maximum throttle that will be sent to the motors.  This should normally be left as 1000.</Description>
      <Units>Percent*10</Units>
      <Range>800 1000</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </THR_MAX>
    <FS_THR_ENABLE>
      <DisplayName>Throttle Failsafe Enable</DisplayName>
      <Description>The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel</Description>
      <Values>0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode,3:Enabled always LAND</Values>
      <User>Standard</User>
    </FS_THR_ENABLE>
    <FS_THR_VALUE>
      <DisplayName>Throttle Failsafe Value</DisplayName>
      <Description>The PWM level on channel 3 below which throttle sailsafe triggers</Description>
      <Range>925 1100</Range>
      <Units>pwm</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </FS_THR_VALUE>
    <TRIM_THROTTLE>
      <DisplayName>Throttle Trim</DisplayName>
      <Description>The autopilot's estimate of the throttle required to maintain a level hover.  Calculated automatically from the pilot's throttle input while in stabilize mode</Description>
      <Range>0 1000</Range>
      <Units>Percent*10</Units>
      <User>Advanced</User>
    </TRIM_THROTTLE>
    <THR_MID>
      <DisplayName>Throttle Mid Position</DisplayName>
      <Description>The throttle output (0 ~ 1000) when throttle stick is in mid position.  Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover</Description>
      <User>Standard</User>
      <Range>300 700</Range>
      <Units>Percent*10</Units>
      <Increment>1</Increment>
    </THR_MID>
    <FLTMODE1>
      <DisplayName>Flight Mode 1</DisplayName>
      <Description>Flight mode when Channel 5 pwm is &lt;= 1230</Description>
      <Values>0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport</Values>
      <User>Standard</User>
    </FLTMODE1>
    <FLTMODE2>
      <DisplayName>Flight Mode 2</DisplayName>
      <Description>Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360</Description>
      <Values>0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport</Values>
      <User>Standard</User>
    </FLTMODE2>
    <FLTMODE3>
      <DisplayName>Flight Mode 3</DisplayName>
      <Description>Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490</Description>
      <Values>0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport</Values>
      <User>Standard</User>
    </FLTMODE3>
    <FLTMODE4>
      <DisplayName>Flight Mode 4</DisplayName>
      <Description>Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620</Description>
      <Values>0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport</Values>
      <User>Standard</User>
    </FLTMODE4>
    <FLTMODE5>
      <DisplayName>Flight Mode 5</DisplayName>
      <Description>Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749</Description>
      <Values>0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport</Values>
      <User>Standard</User>
    </FLTMODE5>
    <FLTMODE6>
      <DisplayName>Flight Mode 6</DisplayName>
      <Description>Flight mode when Channel 5 pwm is &gt;=1750</Description>
      <Values>0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,8:Position,9:Land,10:OF_Loiter,11:Drift,13:Sport</Values>
      <User>Standard</User>
    </FLTMODE6>
    <SIMPLE>
      <DisplayName>Simple mode bitmask</DisplayName>
      <Description>Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)</Description>
      <User>Advanced</User>
    </SIMPLE>
    <LOG_BITMASK>
      <DisplayName>Log bitmask</DisplayName>
      <Description>2 byte bitmap of log types to enable</Description>
      <Values>0:Disabled,830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll</Values>
      <User>Standard</User>
    </LOG_BITMASK>
    <ESC>
      <DisplayName>ESC Calibration</DisplayName>
      <Description>Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually.</Description>
      <User>Advanced</User>
      <Values>0:Normal Start-up,1:Start-up in ESC Calibration mode</Values>
    </ESC>
    <TUNE>
      <DisplayName>Channel 6 Tuning</DisplayName>
      <Description>Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob</Description>
      <User>Standard</User>
      <Values>0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,37:Throttle Rate kD,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,42:Loiter Speed,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,9:Relay On/Off,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,32:INAV_TC,38:Declination,39:Circle Rate,41:Sonar Gain</Values>
    </TUNE>
    <TUNE_LOW>
      <DisplayName>Tuning minimum</DisplayName>
      <Description>The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob</Description>
      <User>Standard</User>
      <Range>0 32767</Range>
    </TUNE_LOW>
    <TUNE_HIGH>
      <DisplayName>Tuning maximum</DisplayName>
      <Description>The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob</Description>
      <User>Standard</User>
      <Range>0 32767</Range>
    </TUNE_HIGH>
    <FRAME>
      <DisplayName>Frame Orientation (+, X or V)</DisplayName>
      <Description>Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters.</Description>
      <Values>0:Plus, 1:X, 2:V, 3:H, 10:Y6B (New)</Values>
      <User>Standard</User>
    </FRAME>
    <CH7_OPT>
      <DisplayName>Channel 7 option</DisplayName>
      <Description>Select which function if performed when CH7 is above 1800 pwm</Description>
      <Values>0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM</Values>
      <User>Standard</User>
    </CH7_OPT>
    <CH8_OPT>
      <DisplayName>Channel 8 option</DisplayName>
      <Description>Select which function if performed when CH8 is above 1800 pwm</Description>
      <Values>0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM</Values>
      <User>Standard</User>
    </CH8_OPT>
    <ARMING_CHECK>
      <DisplayName>Arming check</DisplayName>
      <Description>Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS</Description>
      <Values>0:Disabled, 1:Enabled, -3:Skip Baro, -5:Skip Compass, -9:Skip GPS, -17:Skip INS, -33:Skip Parameters, -65:Skip RC, 127:Skip Voltage</Values>
      <User>Standard</User>
    </ARMING_CHECK>
    <ANGLE_MAX>
      <DisplayName>Angle Max</DisplayName>
      <Description>Maximum lean angle in all flight modes</Description>
      <User>Advanced</User>
    </ANGLE_MAX>
    <ANGLE_RATE_MAX>
      <DisplayName>Angle Rate max</DisplayName>
      <Description>maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes</Description>
      <User>Advanced</User>
    </ANGLE_RATE_MAX>
    <RC_FEEL_RP>
      <DisplayName>RC Feel Roll/Pitch</DisplayName>
      <Description>RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 begin crisp</Description>
      <User>Advanced</User>
      <Values>0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp</Values>
      <Group>HS1_</Group>
      <Path>../libraries/RC_Channel/RC_Channel.cpp</Path>
    </RC_FEEL_RP>
    <RATE_PIT_FF>
      <DisplayName>Rate Pitch Feed Forward</DisplayName>
      <Description>Rate Pitch Feed Forward (for TradHeli Only)</Description>
      <Range>0 10</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RATE_PIT_FF>
    <RATE_RLL_FF>
      <DisplayName>Rate Roll Feed Forward</DisplayName>
      <Description>Rate Roll Feed Forward (for TradHeli Only)</Description>
      <Range>0 10</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RATE_RLL_FF>
    <RATE_YAW_FF>
      <DisplayName>Rate Yaw Feed Forward</DisplayName>
      <Description>Rate Yaw Feed Forward (for TradHeli Only)</Description>
      <Range>0 10</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RATE_YAW_FF>
    <H_STAB_COL_MIN>
      <DisplayName>Heli Stabilize Throttle Collective Minimum</DisplayName>
      <Description>Helicopter's minimum collective position while pilot directly controls collective in stabilize mode</Description>
      <Range>0 500</Range>
      <Units>Percent*10</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_STAB_COL_MIN>
    <H_STAB_COL_MAX>
      <DisplayName>Stabilize Throttle Maximum</DisplayName>
      <Description>Helicopter's maximum collective position while pilot directly controls collective in stabilize mode</Description>
      <Range>500 1000</Range>
      <Units>Percent*10</Units>
      <Increment>1</Increment>
      <User>Standard</User>
      <Group>SS1_</Group>
      <Path>../libraries/RC_Channel/RC_Channel.cpp</Path>
    </H_STAB_COL_MAX>
    <RC_SPEED>
      <DisplayName>ESC Update Speed</DisplayName>
      <Description>This is the speed in Hertz that your ESCs will receive updates</Description>
      <Units>Hz</Units>
      <Range>50 490</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC_SPEED>
    <ACRO_RP_P>
      <DisplayName>Acro Roll and Pitch P gain</DisplayName>
      <Description>Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation.</Description>
      <Range>1 10</Range>
      <User>Standard</User>
    </ACRO_RP_P>
    <ACRO_YAW_P>
      <DisplayName>Acro Yaw P gain</DisplayName>
      <Description>Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation.</Description>
      <Range>1 10</Range>
      <User>Standard</User>
    </ACRO_YAW_P>
    <ACRO_BAL_ROLL>
      <DisplayName>Acro Balance Roll</DisplayName>
      <Description>rate at which roll angle returns to level in acro mode</Description>
      <Range>0 3</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </ACRO_BAL_ROLL>
    <ACRO_BAL_PITCH>
      <DisplayName>Acro Balance Pitch</DisplayName>
      <Description>rate at which pitch angle returns to level in acro mode</Description>
      <Range>0 3</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </ACRO_BAL_PITCH>
    <ACRO_TRAINER>
      <DisplayName>Acro Trainer</DisplayName>
      <Description>Type of trainer used in acro mode</Description>
      <Values>0:Disabled,1:Leveling,2:Leveling and Limited</Values>
      <User>Advanced</User>
    </ACRO_TRAINER>
    <RATE_RLL_P>
      <DisplayName>Roll axis rate controller P gain</DisplayName>
      <Description>Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output</Description>
      <Range>0.08 0.20</Range>
      <Increment>0.005</Increment>
      <User>Standard</User>
    </RATE_RLL_P>
    <RATE_RLL_I>
      <DisplayName>Roll axis rate controller I gain</DisplayName>
      <Description>Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate</Description>
      <Range>0.01 0.5</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RATE_RLL_I>
    <RATE_RLL_IMAX>
      <DisplayName>Roll axis rate controller I gain maximum</DisplayName>
      <Description>Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output</Description>
      <Range>0 500</Range>
      <Increment>10</Increment>
      <Units>Percent*10</Units>
      <User>Standard</User>
    </RATE_RLL_IMAX>
    <RATE_RLL_D>
      <DisplayName>Roll axis rate controller D gain</DisplayName>
      <Description>Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate</Description>
      <Range>0.001 0.02</Range>
      <Increment>0.001</Increment>
      <User>Standard</User>
    </RATE_RLL_D>
    <RATE_PIT_P>
      <DisplayName>Pitch axis rate controller P gain</DisplayName>
      <Description>Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output</Description>
      <Range>0.08 0.20</Range>
      <Increment>0.005</Increment>
      <User>Standard</User>
    </RATE_PIT_P>
    <RATE_PIT_I>
      <DisplayName>Pitch axis rate controller I gain</DisplayName>
      <Description>Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate</Description>
      <Range>0.01 0.5</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RATE_PIT_I>
    <RATE_PIT_IMAX>
      <DisplayName>Pitch axis rate controller I gain maximum</DisplayName>
      <Description>Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output</Description>
      <Range>0 500</Range>
      <Increment>10</Increment>
      <Units>Percent*10</Units>
      <User>Standard</User>
    </RATE_PIT_IMAX>
    <RATE_PIT_D>
      <DisplayName>Pitch axis rate controller D gain</DisplayName>
      <Description>Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate</Description>
      <Range>0.001 0.02</Range>
      <Increment>0.001</Increment>
      <User>Standard</User>
    </RATE_PIT_D>
    <RATE_YAW_P>
      <DisplayName>Yaw axis rate controller P gain</DisplayName>
      <Description>Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output</Description>
      <Range>0.150 0.250</Range>
      <Increment>0.005</Increment>
      <User>Standard</User>
    </RATE_YAW_P>
    <RATE_YAW_I>
      <DisplayName>Yaw axis rate controller I gain</DisplayName>
      <Description>Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate</Description>
      <Range>0.010 0.020</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RATE_YAW_I>
    <RATE_YAW_IMAX>
      <DisplayName>Yaw axis rate controller I gain maximum</DisplayName>
      <Description>Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output</Description>
      <Range>0 800</Range>
      <Increment>10</Increment>
      <Units>Percent*10</Units>
      <User>Standard</User>
    </RATE_YAW_IMAX>
    <RATE_YAW_D>
      <DisplayName>Yaw axis rate controller D gain</DisplayName>
      <Description>Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate</Description>
      <Range>0.000 0.02</Range>
      <Increment>0.001</Increment>
      <User>Standard</User>
    </RATE_YAW_D>
    <LOITER_LAT_P>
      <DisplayName>Loiter latitude rate controller P gain</DisplayName>
      <Description>Loiter latitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the latitude direction</Description>
      <Range>0.1 6.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </LOITER_LAT_P>
    <LOITER_LAT_I>
      <DisplayName>Loiter latitude rate controller I gain</DisplayName>
      <Description>Loiter latitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the latitude direction</Description>
      <Range>0.02 1.00</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </LOITER_LAT_I>
    <LOITER_LAT_IMAX>
      <DisplayName>Loiter rate controller I gain maximum</DisplayName>
      <Description>Loiter rate controller I gain maximum.  Constrains the lean angle that the I gain will output</Description>
      <Range>0 4500</Range>
      <Increment>10</Increment>
      <Units>Centi-Degrees</Units>
      <User>Advanced</User>
    </LOITER_LAT_IMAX>
    <LOITER_LAT_D>
      <DisplayName>Loiter latitude rate controller D gain</DisplayName>
      <Description>Loiter latitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed</Description>
      <Range>0.0 0.6</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </LOITER_LAT_D>
    <LOITER_LON_P>
      <DisplayName>Loiter longitude rate controller P gain</DisplayName>
      <Description>Loiter longitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the longitude direction</Description>
      <Range>0.1 6.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </LOITER_LON_P>
    <LOITER_LON_I>
      <DisplayName>Loiter longitude rate controller I gain</DisplayName>
      <Description>Loiter longitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the longitude direction</Description>
      <Range>0.02 1.00</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </LOITER_LON_I>
    <LOITER_LON_IMAX>
      <DisplayName>Loiter longitude rate controller I gain maximum</DisplayName>
      <Description>Loiter longitude rate controller I gain maximum.  Constrains the lean angle that the I gain will output</Description>
      <Range>0 4500</Range>
      <Increment>10</Increment>
      <Units>Centi-Degrees</Units>
      <User>Advanced</User>
    </LOITER_LON_IMAX>
    <LOITER_LON_D>
      <DisplayName>Loiter longituderate controller D gain</DisplayName>
      <Description>Loiter longitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed</Description>
      <Range>0.0 0.6</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </LOITER_LON_D>
    <THR_RATE_P>
      <DisplayName>Throttle rate controller P gain</DisplayName>
      <Description>Throttle rate controller P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller</Description>
      <Range>1.000 8.000</Range>
      <User>Standard</User>
    </THR_RATE_P>
    <THR_RATE_I>
      <DisplayName>Throttle rate controller I gain</DisplayName>
      <Description>Throttle rate controller I gain.  Corrects long-term difference in desired vertical speed and actual speed</Description>
      <Range>0.000 0.100</Range>
      <User>Standard</User>
    </THR_RATE_I>
    <THR_RATE_IMAX>
      <DisplayName>Throttle rate controller I gain maximum</DisplayName>
      <Description>Throttle rate controller I gain maximum.  Constrains the desired acceleration that the I gain will generate</Description>
      <Range>0 500</Range>
      <Units>cm/s/s</Units>
      <User>Standard</User>
    </THR_RATE_IMAX>
    <THR_RATE_D>
      <DisplayName>Throttle rate controller D gain</DisplayName>
      <Description>Throttle rate controller D gain.  Compensates for short-term change in desired vertical speed vs actual speed</Description>
      <Range>0.000 0.400</Range>
      <User>Standard</User>
    </THR_RATE_D>
    <THR_ACCEL_P>
      <DisplayName>Throttle acceleration controller P gain</DisplayName>
      <Description>Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output</Description>
      <Range>0.500 1.500</Range>
      <User>Standard</User>
    </THR_ACCEL_P>
    <THR_ACCEL_I>
      <DisplayName>Throttle acceleration controller I gain</DisplayName>
      <Description>Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration</Description>
      <Range>0.000 3.000</Range>
      <User>Standard</User>
    </THR_ACCEL_I>
    <THR_ACCEL_IMAX>
      <DisplayName>Throttle acceleration controller I gain maximum</DisplayName>
      <Description>Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate</Description>
      <Range>0 500</Range>
      <Units>Percent*10</Units>
      <User>Standard</User>
    </THR_ACCEL_IMAX>
    <THR_ACCEL_D>
      <DisplayName>Throttle acceleration controller D gain</DisplayName>
      <Description>Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration</Description>
      <Range>0.000 0.400</Range>
      <User>Standard</User>
    </THR_ACCEL_D>
    <OF_RLL_P>
      <DisplayName>Optical Flow based loiter controller roll axis P gain</DisplayName>
      <Description>Optical Flow based loiter controller roll axis P gain.  Converts the position error from the target point to a roll angle</Description>
      <Range>2.000 3.000</Range>
      <User>Standard</User>
    </OF_RLL_P>
    <OF_RLL_I>
      <DisplayName>Optical Flow based loiter controller roll axis I gain</DisplayName>
      <Description>Optical Flow based loiter controller roll axis I gain.  Corrects long-term position error by more persistently rolling left or right</Description>
      <Range>0.250 0.750</Range>
      <User>Standard</User>
    </OF_RLL_I>
    <OF_RLL_IMAX>
      <DisplayName>Optical Flow based loiter controller roll axis I gain maximum</DisplayName>
      <Description>Optical Flow based loiter controller roll axis I gain maximum.  Constrains the maximum roll angle that the I term will generate</Description>
      <Range>0 4500</Range>
      <Units>Centi-Degrees</Units>
      <User>Standard</User>
    </OF_RLL_IMAX>
    <OF_RLL_D>
      <DisplayName>Optical Flow based loiter controller roll axis D gain</DisplayName>
      <Description>Optical Flow based loiter controller roll axis D gain.  Compensates for short-term change in speed in the roll direction</Description>
      <Range>0.100 0.140</Range>
      <User>Standard</User>
    </OF_RLL_D>
    <OF_PIT_P>
      <DisplayName>Optical Flow based loiter controller pitch axis P gain</DisplayName>
      <Description>Optical Flow based loiter controller pitch axis P gain.  Converts the position error from the target point to a pitch angle</Description>
      <Range>2.000 3.000</Range>
      <User>Standard</User>
    </OF_PIT_P>
    <OF_PIT_I>
      <DisplayName>Optical Flow based loiter controller pitch axis I gain</DisplayName>
      <Description>Optical Flow based loiter controller pitch axis I gain.  Corrects long-term position error by more persistently pitching left or right</Description>
      <Range>0.250 0.750</Range>
      <User>Standard</User>
    </OF_PIT_I>
    <OF_PIT_IMAX>
      <DisplayName>Optical Flow based loiter controller pitch axis I gain maximum</DisplayName>
      <Description>Optical Flow based loiter controller pitch axis I gain maximum.  Constrains the maximum pitch angle that the I term will generate</Description>
      <Range>0 4500</Range>
      <Units>Centi-Degrees</Units>
      <User>Standard</User>
    </OF_PIT_IMAX>
    <OF_PIT_D>
      <DisplayName>Optical Flow based loiter controller pitch axis D gain</DisplayName>
      <Description>Optical Flow based loiter controller pitch axis D gain.  Compensates for short-term change in speed in the pitch direction</Description>
      <Range>0.100 0.140</Range>
      <User>Standard</User>
    </OF_PIT_D>
    <STB_RLL_P>
      <DisplayName>Roll axis stabilize controller P gain</DisplayName>
      <Description>Roll axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate</Description>
      <Range>3.000 6.000</Range>
      <User>Standard</User>
    </STB_RLL_P>
    <STB_RLL_I>
      <DisplayName>Roll axis stabilize controller I gain</DisplayName>
      <Description>Roll axis stabilize (i.e. angle) controller I gain.  Corrects for longer-term difference in desired roll angle and actual angle</Description>
      <Range>0.000 0.100</Range>
      <User>Standard</User>
    </STB_RLL_I>
    <STB_RLL_IMAX>
      <DisplayName>Roll axis stabilize controller I gain maximum</DisplayName>
      <Description>Roll axis stabilize (i.e. angle) controller I gain maximum.  Constrains the maximum roll rate that the I term will generate</Description>
      <Range>0 4500</Range>
      <Units>Centi-Degrees/Sec</Units>
      <User>Standard</User>
    </STB_RLL_IMAX>
    <STB_PIT_P>
      <DisplayName>Pitch axis stabilize controller P gain</DisplayName>
      <Description>Pitch axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate</Description>
      <Range>3.000 6.000</Range>
      <User>Standard</User>
    </STB_PIT_P>
    <STB_PIT_I>
      <DisplayName>Pitch axis stabilize controller I gain</DisplayName>
      <Description>Pitch axis stabilize (i.e. angle) controller I gain.  Corrects for longer-term difference in desired pitch angle and actual angle</Description>
      <Range>0.000 0.100</Range>
      <User>Standard</User>
    </STB_PIT_I>
    <STB_PIT_IMAX>
      <DisplayName>Pitch axis stabilize controller I gain maximum</DisplayName>
      <Description>Pitch axis stabilize (i.e. angle) controller I gain maximum.  Constrains the maximum pitch rate that the I term will generate</Description>
      <Range>0 4500</Range>
      <Units>Centi-Degrees/Sec</Units>
      <User>Standard</User>
    </STB_PIT_IMAX>
    <STB_YAW_P>
      <DisplayName>Yaw axis stabilize controller P gain</DisplayName>
      <Description>Yaw axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate</Description>
      <Range>3.000 6.000</Range>
      <User>Standard</User>
    </STB_YAW_P>
    <STB_YAW_I>
      <DisplayName>Yaw axis stabilize controller I gain</DisplayName>
      <Description>Yaw axis stabilize (i.e. angle) controller I gain.  Corrects for longer-term difference in desired yaw angle and actual angle</Description>
      <Range>0.000 0.100</Range>
      <User>Standard</User>
    </STB_YAW_I>
    <STB_YAW_IMAX>
      <DisplayName>Yaw axis stabilize controller I gain maximum</DisplayName>
      <Description>Yaw axis stabilize (i.e. angle) controller I gain maximum.  Constrains the maximum yaw rate that the I term will generate</Description>
      <Range>0 4500</Range>
      <Units>Centi-Degrees/Sec</Units>
      <User>Standard</User>
    </STB_YAW_IMAX>
    <THR_ALT_P>
      <DisplayName>Altitude controller P gain</DisplayName>
      <Description>Altitude controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller</Description>
      <Range>1.000 3.000</Range>
      <User>Standard</User>
    </THR_ALT_P>
    <THR_ALT_I>
      <DisplayName>Altitude controller I gain</DisplayName>
      <Description>Altitude controller I gain.  Corrects for longer-term difference in desired altitude and actual altitude</Description>
      <Range>0.000 0.100</Range>
      <User>Standard</User>
    </THR_ALT_I>
    <THR_ALT_IMAX>
      <DisplayName>Altitude controller I gain maximum</DisplayName>
      <Description>Altitude controller I gain maximum.  Constrains the maximum climb rate rate that the I term will generate</Description>
      <Range>0 500</Range>
      <Units>cm/s</Units>
      <User>Standard</User>
    </THR_ALT_IMAX>
    <HLD_LAT_P>
      <DisplayName>Loiter latitude position controller P gain</DisplayName>
      <Description>Loiter latitude position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller</Description>
      <Range>0.500 2.000</Range>
      <User>Standard</User>
    </HLD_LAT_P>
    <HLD_LAT_I>
      <DisplayName>Loiter latitude position controller I gain</DisplayName>
      <Description>Loiter latitude position controller I gain.  Corrects for longer-term distance (in latitude) to the target location</Description>
      <Range>0.000 0.100</Range>
      <User>Standard</User>
    </HLD_LAT_I>
    <HLD_LAT_IMAX>
      <DisplayName>Loiter latitude position controller I gain maximum</DisplayName>
      <Description>Loiter latitude position controller I gain maximum.  Constrains the maximum desired speed that the I term will generate</Description>
      <Range>0 3000</Range>
      <Units>cm/s</Units>
      <User>Standard</User>
    </HLD_LAT_IMAX>
    <HLD_LON_P>
      <DisplayName>Loiter longitude position controller P gain</DisplayName>
      <Description>Loiter longitude position controller P gain.  Converts the distance (in the longitude direction) to the target location into a desired speed which is then passed to the loiter longitude rate controller</Description>
      <Range>0.500 2.000</Range>
      <User>Standard</User>
    </HLD_LON_P>
    <HLD_LON_I>
      <DisplayName>Loiter longitude position controller I gain</DisplayName>
      <Description>Loiter longitude position controller I gain.  Corrects for longer-term distance (in longitude direction) to the target location</Description>
      <Range>0.000 0.100</Range>
      <User>Standard</User>
    </HLD_LON_I>
    <HLD_LON_IMAX>
      <DisplayName>Loiter longitudeposition controller I gain maximum</DisplayName>
      <Description>Loiter  longitudeposition controller I gain maximum.  Constrains the maximum desired speed that the I term will generate</Description>
      <Range>0 3000</Range>
      <Units>cm/s</Units>
      <User>Standard</User>
      <Group>CAM_</Group>
      <Path>../libraries/AP_Camera/AP_Camera.cpp</Path>
    </HLD_LON_IMAX>
  </ArduCopter2>
  <ArduPlane>
    <GND_ABS_PRESS>
      <DisplayName>Absolute Pressure</DisplayName>
      <Description>calibrated ground pressure in Pascals</Description>
      <Increment>1</Increment>
    </GND_ABS_PRESS>
    <GND_TEMP>
      <DisplayName>ground temperature</DisplayName>
      <Description>calibrated ground temperature in degrees Celsius</Description>
      <Increment>1</Increment>
    </GND_TEMP>
    <GND_ALT_OFFSET>
      <DisplayName>altitude offset</DisplayName>
      <Description>altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.</Description>
      <Units>meters</Units>
      <Range>-128 127</Range>
      <Increment>1</Increment>
    </GND_ALT_OFFSET>
    <GPS_TYPE>
      <DisplayName>GPS type</DisplayName>
      <Description>GPS type</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav</Values>
    </GPS_TYPE>
    <GPS_TYPE2>
      <DisplayName>2nd GPS type</DisplayName>
      <Description>GPS type of 2nd GPS</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav</Values>
    </GPS_TYPE2>
    <GPS_NAVFILTER>
      <DisplayName>Navigation filter setting</DisplayName>
      <Description>Navigation filter engine setting</Description>
      <Values>0:Portable,2:Stationary,3:Pedestrian,4:Automotive,5:Sea,6:Airborne1G,7:Airborne2G,8:Airborne4G</Values>
    </GPS_NAVFILTER>
    <GPS_AUTO_SWITCH>
      <DisplayName>Automatic Switchover Setting</DisplayName>
      <Description>Automatic switchover to GPS reporting best lock</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </GPS_AUTO_SWITCH>
    <GPS_DGPS_MIN_LOCK>
      <DisplayName>Minimum Lock Type Accepted for DGPS</DisplayName>
      <Description>Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.</Description>
      <Values>0:Any,50:FloatRTK,100:IntegerRTK</Values>
      <User>Advanced</User>
    </GPS_DGPS_MIN_LOCK>
    <GPS_SBAS_MODE>
      <DisplayName>SBAS Mode</DisplayName>
      <Description>This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.</Description>
      <Values>0:Disabled,1:Enabled,2:NoChange</Values>
      <User>Advanced</User>
    </GPS_SBAS_MODE>
    <GPS_MIN_ELEV>
      <DisplayName>Minimum elevation</DisplayName>
      <Description>This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.</Description>
      <Range>-100 90</Range>
      <Units>Degrees</Units>
      <User>Advanced</User>
    </GPS_MIN_ELEV>
    <CAM_TRIGG_TYPE>
      <DisplayName>Camera shutter (trigger) type</DisplayName>
      <Description>how to trigger the camera to take a picture</Description>
      <Values>0:Servo,1:Relay</Values>
      <User>Standard</User>
    </CAM_TRIGG_TYPE>
    <CAM_DURATION>
      <DisplayName>Duration that shutter is held open</DisplayName>
      <Description>How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)</Description>
      <Range>0 50</Range>
      <User>Standard</User>
    </CAM_DURATION>
    <CAM_SERVO_ON>
      <DisplayName>Servo ON PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is activated</Description>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_ON>
    <CAM_SERVO_OFF>
      <DisplayName>Servo OFF PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is deactivated</Description>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_OFF>
    <CAM_TRIGG_DIST>
      <DisplayName>Camera trigger distance</DisplayName>
      <Description>Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.</Description>
      <User>Standard</User>
      <Range>0 1000</Range>
    </CAM_TRIGG_DIST>
    <ARMING_REQUIRE>
      <DisplayName>Require Arming Motors</DisplayName>
      <Description>Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and send THR_MIN PWM to throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure.</Description>
      <Values>0:Disabled,1:THR_MIN PWM when disarmed,2:0 PWM when disarmed</Values>
      <User>Advanced</User>
    </ARMING_REQUIRE>
    <ARMING_DIS_RUD>
      <DisplayName>Disable Rudder Arming</DisplayName>
      <Description>Do not allow arming via the rudder input stick.</Description>
      <Values>0:Disabled (Rudder Arming Allowed),1:Enabled(No Rudder Arming)</Values>
      <User>Advanced</User>
    </ARMING_DIS_RUD>
    <ARMING_CHECK>
      <DisplayName>Arm Checks to Peform (bitmask)</DisplayName>
      <Description>Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and manual RC control you would set ARMING_CHECK to 72.</Description>
      <Values>0:None,1:All,2:Barometer,4:Compass,8:GPS,16:INS,32:Parameters,64:Manual RC Trasmitter,128:Board voltage,256:Battery Level</Values>
      <User>Advanced</User>
    </ARMING_CHECK>
    <RELAY_PIN>
      <DisplayName>First Relay Pin</DisplayName>
      <Description>Digital pin number for first relay control. This is the pin used for camera control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN>
    <RELAY_PIN2>
      <DisplayName>Second Relay Pin</DisplayName>
      <Description>Digital pin number for 2nd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN2>
    <RELAY_PIN3>
      <DisplayName>Third Relay Pin</DisplayName>
      <Description>Digital pin number for 3rd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN3>
    <RELAY_PIN4>
      <DisplayName>Fourth Relay Pin</DisplayName>
      <Description>Digital pin number for 4th relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN4>
    <RELAY_DEFAULT>
      <DisplayName>Default relay state</DisplayName>
      <Description>The state of the relay on boot.</Description>
      <User>Standard</User>
      <Values>0:Off,1:On,2:NoChange</Values>
    </RELAY_DEFAULT>
    <RNGFND_TYPE>
      <DisplayName>Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4</Values>
    </RNGFND_TYPE>
    <RNGFND_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND_PIN>
    <RNGFND_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND_SCALING>
    <RNGFND_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND_OFFSET>
    <RNGFND_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND_FUNCTION>
    <RNGFND_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MIN_CM>
    <RNGFND_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MAX_CM>
    <RNGFND_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND_STOP_PIN>
    <RNGFND_SETTLE_MS>
      <DisplayName>Rangefinder settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND_SETTLE_MS>
    <RNGFND_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND_RMETRIC>
    <RNGFND2_TYPE>
      <DisplayName>Second Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4</Values>
    </RNGFND2_TYPE>
    <RNGFND2_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND2_PIN>
    <RNGFND2_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND2_SCALING>
    <RNGFND2_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND2_OFFSET>
    <RNGFND2_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND2_FUNCTION>
    <RNGFND2_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MIN_CM>
    <RNGFND2_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MAX_CM>
    <RNGFND2_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND2_STOP_PIN>
    <RNGFND2_SETTLE_MS>
      <DisplayName>Sonar settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND2_SETTLE_MS>
    <RNGFND2_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND2_RMETRIC>
    <TERRAIN_ENABLE>
      <DisplayName>Terrain data enable</DisplayName>
      <Description>enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.</Description>
      <Values>0:Disable,1:Enable</Values>
    </TERRAIN_ENABLE>
    <TERRAIN_SPACING>
      <DisplayName>Terrain grid spacing</DisplayName>
      <Description>Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.</Description>
      <Units>meters</Units>
      <Increment>1</Increment>
    </TERRAIN_SPACING>
    <RC1_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MIN>
    <RC1_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_TRIM>
    <RC1_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MAX>
    <RC1_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC1_REV>
    <RC1_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC1_DZ>
    <RC2_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MIN>
    <RC2_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_TRIM>
    <RC2_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MAX>
    <RC2_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC2_REV>
    <RC2_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC2_DZ>
    <RC3_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MIN>
    <RC3_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_TRIM>
    <RC3_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MAX>
    <RC3_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC3_REV>
    <RC3_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC3_DZ>
    <RC4_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MIN>
    <RC4_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_TRIM>
    <RC4_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MAX>
    <RC4_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC4_REV>
    <RC4_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC4_DZ>
    <RC5_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MIN>
    <RC5_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_TRIM>
    <RC5_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MAX>
    <RC5_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC5_REV>
    <RC5_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC5_DZ>
    <RC5_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC5_FUNCTION>
    <RC6_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MIN>
    <RC6_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_TRIM>
    <RC6_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MAX>
    <RC6_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC6_REV>
    <RC6_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC6_DZ>
    <RC6_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC6_FUNCTION>
    <RC7_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MIN>
    <RC7_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_TRIM>
    <RC7_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MAX>
    <RC7_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC7_REV>
    <RC7_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC7_DZ>
    <RC7_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC7_FUNCTION>
    <RC8_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MIN>
    <RC8_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_TRIM>
    <RC8_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MAX>
    <RC8_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC8_REV>
    <RC8_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC8_DZ>
    <RC8_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC8_FUNCTION>
    <RC9_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MIN>
    <RC9_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_TRIM>
    <RC9_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MAX>
    <RC9_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC9_REV>
    <RC9_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC9_DZ>
    <RC9_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC9_FUNCTION>
    <RC10_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MIN>
    <RC10_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_TRIM>
    <RC10_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MAX>
    <RC10_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC10_REV>
    <RC10_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC10_DZ>
    <RC10_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC10_FUNCTION>
    <RC11_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MIN>
    <RC11_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_TRIM>
    <RC11_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MAX>
    <RC11_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC11_REV>
    <RC11_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC11_DZ>
    <RC11_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC11_FUNCTION>
    <RC12_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MIN>
    <RC12_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_TRIM>
    <RC12_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MAX>
    <RC12_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC12_REV>
    <RC12_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC12_DZ>
    <RC12_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC12_FUNCTION>
    <RC13_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MIN>
    <RC13_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_TRIM>
    <RC13_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MAX>
    <RC13_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC13_REV>
    <RC13_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC13_DZ>
    <RC13_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC13_FUNCTION>
    <RC14_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MIN>
    <RC14_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_TRIM>
    <RC14_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MAX>
    <RC14_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC14_REV>
    <RC14_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC14_DZ>
    <RC14_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC14_FUNCTION>
    <RLL2SRV_TCONST>
      <DisplayName>Roll Time Constant</DisplayName>
      <Description>This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.</Description>
      <Range>0.4 1.0</Range>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </RLL2SRV_TCONST>
    <RLL2SRV_P>
      <DisplayName>Proportional Gain</DisplayName>
      <Description>This is the gain from bank angle to aileron. This gain works the same way as the P term in the old PID (RLL2SRV_P) and can be set to the same value.</Description>
      <Range>0.1 4.0</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </RLL2SRV_P>
    <RLL2SRV_D>
      <DisplayName>Damping Gain</DisplayName>
      <Description>This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe.</Description>
      <Range>0 0.1</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </RLL2SRV_D>
    <RLL2SRV_I>
      <DisplayName>Integrator Gain</DisplayName>
      <Description>This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft.</Description>
      <Range>0 1.0</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </RLL2SRV_I>
    <RLL2SRV_RMAX>
      <DisplayName>Maximum Roll Rate</DisplayName>
      <Description>This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default.</Description>
      <Range>0 180</Range>
      <Units>degrees/second</Units>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RLL2SRV_RMAX>
    <RLL2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the aircraft is severely out of trim.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RLL2SRV_IMAX>
    <PTCH2SRV_TCONST>
      <DisplayName>Pitch Time Constant</DisplayName>
      <Description>This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.</Description>
      <Range>0.4 1.0</Range>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </PTCH2SRV_TCONST>
    <PTCH2SRV_P>
      <DisplayName>Proportional Gain</DisplayName>
      <Description>This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value.</Description>
      <Range>0.1 3.0</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </PTCH2SRV_P>
    <PTCH2SRV_D>
      <DisplayName>Damping Gain</DisplayName>
      <Description>This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe.</Description>
      <Range>0 0.1</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </PTCH2SRV_D>
    <PTCH2SRV_I>
      <DisplayName>Integrator Gain</DisplayName>
      <Description>This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle.</Description>
      <Range>0 0.5</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </PTCH2SRV_I>
    <PTCH2SRV_RMAX_UP>
      <DisplayName>Pitch up max rate</DisplayName>
      <Description>This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.</Description>
      <Range>0 100</Range>
      <Units>degrees/second</Units>
      <Increment>1</Increment>
      <User>Advanced</User>
    </PTCH2SRV_RMAX_UP>
    <PTCH2SRV_RMAX_DN>
      <DisplayName>Pitch down max rate</DisplayName>
      <Description>This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.</Description>
      <Range>0 100</Range>
      <Units>degrees/second</Units>
      <Increment>1</Increment>
      <User>Advanced</User>
    </PTCH2SRV_RMAX_DN>
    <PTCH2SRV_RLL>
      <DisplayName>Roll compensation</DisplayName>
      <Description>This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased.</Description>
      <Range>0.7 1.5</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </PTCH2SRV_RLL>
    <PTCH2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </PTCH2SRV_IMAX>
    <YAW2SRV_SLIP>
      <DisplayName>Sideslip control gain</DisplayName>
      <Description>This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required.</Description>
      <Range>0 4</Range>
      <Increment>0.25</Increment>
    </YAW2SRV_SLIP>
    <YAW2SRV_INT>
      <DisplayName>Sidelsip control integrator</DisplayName>
      <Description>This is the integral gain from lateral acceleration error. This gain should only be non-zero if active control over sideslip is desired. If active control over sideslip is required then this can be set to 1.0 as a first try.</Description>
      <Range>0 2</Range>
      <Increment>0.25</Increment>
    </YAW2SRV_INT>
    <YAW2SRV_DAMP>
      <DisplayName>Yaw damping</DisplayName>
      <Description>This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping term is zero then the integrator will also be disabled.</Description>
      <Range>0 2</Range>
      <Increment>0.25</Increment>
    </YAW2SRV_DAMP>
    <YAW2SRV_RLL>
      <DisplayName>Yaw coordination gain</DisplayName>
      <Description>This is the gain term that is applied to the yaw rate offset calculated as required to keep the yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will work for all models. Advanced users can use it to correct for any tendency to yaw away from or into the turn once the turn is established. Increase to make the model yaw more initially and decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are required then it normally indicates a problem with the airspeed calibration.</Description>
      <Range>0.8 1.2</Range>
      <Increment>0.05</Increment>
    </YAW2SRV_RLL>
    <YAW2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of centi-degrees of rudder over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited rudder control effectiveness.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </YAW2SRV_IMAX>
    <STEER2SRV_TCONST>
      <DisplayName>Steering Time Constant</DisplayName>
      <Description>This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve.</Description>
      <Range>0.4 1.0</Range>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </STEER2SRV_TCONST>
    <STEER2SRV_P>
      <DisplayName>Steering turning gain</DisplayName>
      <Description>The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </STEER2SRV_P>
    <STEER2SRV_I>
      <DisplayName>Integrator Gain</DisplayName>
      <Description>This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.</Description>
      <Range>0 1.0</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </STEER2SRV_I>
    <STEER2SRV_D>
      <DisplayName>Damping Gain</DisplayName>
      <Description>This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.</Description>
      <Range>0 0.1</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </STEER2SRV_D>
    <STEER2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </STEER2SRV_IMAX>
    <STEER2SRV_MINSPD>
      <DisplayName>Minimum speed</DisplayName>
      <Description>This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still driver slower than this limit, but the steering calculations will be done based on this minimum speed.</Description>
      <Range>0 5</Range>
      <Increment>0.1</Increment>
      <Units>m/s</Units>
      <User>User</User>
    </STEER2SRV_MINSPD>
    <COMPASS_OFS_X>
      <DisplayName>Compass offsets on the X axis</DisplayName>
      <Description>Offset to be added to the compass x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_X>
    <COMPASS_OFS_Y>
      <DisplayName>Compass offsets on the Y axis</DisplayName>
      <Description>Offset to be added to the compass y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Y>
    <COMPASS_OFS_Z>
      <DisplayName>Compass offsets on the Z axis</DisplayName>
      <Description>Offset to be added to the compass z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Z>
    <COMPASS_DEC>
      <DisplayName>Compass declination</DisplayName>
      <Description>An angle to compensate between the true north and magnetic north</Description>
      <Range>-3.142 3.142</Range>
      <Units>Radians</Units>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </COMPASS_DEC>
    <COMPASS_LEARN>
      <DisplayName>Learn compass offsets automatically</DisplayName>
      <Description>Enable or disable the automatic learning of compass offsets</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_LEARN>
    <COMPASS_USE>
      <DisplayName>Use compass for yaw</DisplayName>
      <Description>Enable or disable the use of the compass (instead of the GPS) for determining heading</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE>
    <COMPASS_AUTODEC>
      <DisplayName>Auto Declination</DisplayName>
      <Description>Enable or disable the automatic calculation of the declination based on gps location</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_AUTODEC>
    <COMPASS_MOTCT>
      <DisplayName>Motor interference compensation type</DisplayName>
      <Description>Set motor interference compensation type to disabled, throttle or current.  Do not change manually.</Description>
      <Values>0:Disabled,1:Use Throttle,2:Use Current</Values>
      <Increment>1</Increment>
    </COMPASS_MOTCT>
    <COMPASS_MOT_X>
      <DisplayName>Motor interference compensation for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_X>
    <COMPASS_MOT_Y>
      <DisplayName>Motor interference compensation for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Y>
    <COMPASS_MOT_Z>
      <DisplayName>Motor interference compensation for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Z>
    <COMPASS_ORIENT>
      <DisplayName>Compass orientation</DisplayName>
      <Description>The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
    </COMPASS_ORIENT>
    <COMPASS_EXTERNAL>
      <DisplayName>Compass is attached via an external cable</DisplayName>
      <Description>Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL>
    <COMPASS_PRIMARY>
      <DisplayName>Choose primary compass</DisplayName>
      <Description>If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored</Description>
      <Values>0:FirstCompass,1:SecondCompass</Values>
      <User>Advanced</User>
    </COMPASS_PRIMARY>
    <COMPASS_DEV_ID>
      <DisplayName>Compass device id</DisplayName>
      <Description>Compass device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID>
    <COMPASS_DEV_ID2>
      <DisplayName>Compass2 device id</DisplayName>
      <Description>Second compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID2>
    <COMPASS_DEV_ID3>
      <DisplayName>Compass3 device id</DisplayName>
      <Description>Third compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID3>
    <SCHED_DEBUG>
      <DisplayName>Scheduler debug level</DisplayName>
      <Description>Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.</Description>
      <Values>0:Disabled,2:ShowSlips,3:ShowOverruns</Values>
      <User>Advanced</User>
    </SCHED_DEBUG>
    <RCMAP_ROLL>
      <DisplayName>Roll channel</DisplayName>
      <Description>Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_ROLL>
    <RCMAP_PITCH>
      <DisplayName>Pitch channel</DisplayName>
      <Description>Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_PITCH>
    <RCMAP_THROTTLE>
      <DisplayName>Throttle channel</DisplayName>
      <Description>Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_THROTTLE>
    <RCMAP_YAW>
      <DisplayName>Yaw channel</DisplayName>
      <Description>Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_YAW>
    <INS_PRODUCT_ID>
      <DisplayName>IMU Product ID</DisplayName>
      <Description>Which type of IMU is installed (read-only).</Description>
      <User>Advanced</User>
      <Values>0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux</Values>
    </INS_PRODUCT_ID>
    <INS_ACCSCAL_X>
      <DisplayName>Accelerometer scaling of X axis</DisplayName>
      <Description>Accelerometer scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_X>
    <INS_ACCSCAL_Y>
      <DisplayName>Accelerometer scaling of Y axis</DisplayName>
      <Description>Accelerometer scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Y>
    <INS_ACCSCAL_Z>
      <DisplayName>Accelerometer scaling of Z axis</DisplayName>
      <Description>Accelerometer scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Z>
    <INS_ACCOFFS_X>
      <DisplayName>Accelerometer offsets of X axis</DisplayName>
      <Description>Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_X>
    <INS_ACCOFFS_Y>
      <DisplayName>Accelerometer offsets of Y axis</DisplayName>
      <Description>Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Y>
    <INS_ACCOFFS_Z>
      <DisplayName>Accelerometer offsets of Z axis</DisplayName>
      <Description>Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Z>
    <INS_GYROFFS_X>
      <DisplayName>Gyro offsets of X axis</DisplayName>
      <Description>Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_X>
    <INS_GYROFFS_Y>
      <DisplayName>Gyro offsets of Y axis</DisplayName>
      <Description>Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Y>
    <INS_GYROFFS_Z>
      <DisplayName>Gyro offsets of Z axis</DisplayName>
      <Description>Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Z>
    <INS_MPU6K_FILTER>
      <DisplayName>MPU6000 filter frequency</DisplayName>
      <Description>Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation</Description>
      <Units>Hz</Units>
      <Values>0:Default,5:5Hz,10:10Hz,20:20Hz,42:42Hz,98:98Hz</Values>
      <User>Advanced</User>
    </INS_MPU6K_FILTER>
    <AHRS_GPS_GAIN>
      <DisplayName>AHRS GPS gain</DisplayName>
      <Description>This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.</Description>
      <Range>0.0 1.0</Range>
      <Increment>.01</Increment>
    </AHRS_GPS_GAIN>
    <AHRS_GPS_USE>
      <DisplayName>AHRS use GPS for navigation</DisplayName>
      <Description>This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_GPS_USE>
    <AHRS_YAW_P>
      <DisplayName>Yaw P</DisplayName>
      <Description>This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_YAW_P>
    <AHRS_RP_P>
      <DisplayName>AHRS RP_P</DisplayName>
      <Description>This controls how fast the accelerometers correct the attitude</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_RP_P>
    <AHRS_WIND_MAX>
      <DisplayName>Maximum wind</DisplayName>
      <Description>This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.</Description>
      <Range>0 127</Range>
      <Units>m/s</Units>
      <Increment>1</Increment>
    </AHRS_WIND_MAX>
    <AHRS_TRIM_X>
      <DisplayName>AHRS Trim Roll</DisplayName>
      <Description>Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_X>
    <AHRS_TRIM_Y>
      <DisplayName>AHRS Trim Pitch</DisplayName>
      <Description>Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_Y>
    <AHRS_TRIM_Z>
      <DisplayName>AHRS Trim Yaw</DisplayName>
      <Description>Not Used</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </AHRS_TRIM_Z>
    <AHRS_ORIENTATION>
      <DisplayName>Board Orientation</DisplayName>
      <Description>Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
      <User>Advanced</User>
    </AHRS_ORIENTATION>
    <AHRS_COMP_BETA>
      <DisplayName>AHRS Velocity Complmentary Filter Beta Coefficient</DisplayName>
      <Description>This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.</Description>
      <Range>0.001 0.5</Range>
      <Increment>.01</Increment>
      <User>Advanced</User>
    </AHRS_COMP_BETA>
    <AHRS_GPS_MINSATS>
      <DisplayName>AHRS GPS Minimum satellites</DisplayName>
      <Description>Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.</Description>
      <Range>0 10</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </AHRS_GPS_MINSATS>
    <AHRS_EKF_USE>
      <DisplayName>Use NavEKF Kalman filter for attitude and position estimation</DisplayName>
      <Description>This controls whether the NavEKF Kalman filter is used for attitude and position estimation</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_EKF_USE>
    <ARSPD_ENABLE>
      <DisplayName>Airspeed enable</DisplayName>
      <Description>enable airspeed sensor</Description>
      <Values>0:Disable,1:Enable</Values>
    </ARSPD_ENABLE>
    <ARSPD_USE>
      <DisplayName>Airspeed use</DisplayName>
      <Description>use airspeed for flight control</Description>
      <Values>1:Use,0:Don't Use</Values>
    </ARSPD_USE>
    <ARSPD_OFFSET>
      <DisplayName>Airspeed offset</DisplayName>
      <Description>Airspeed calibration offset</Description>
      <Increment>0.1</Increment>
    </ARSPD_OFFSET>
    <ARSPD_RATIO>
      <DisplayName>Airspeed ratio</DisplayName>
      <Description>Airspeed calibration ratio</Description>
      <Increment>0.1</Increment>
    </ARSPD_RATIO>
    <ARSPD_PIN>
      <DisplayName>Airspeed pin</DisplayName>
      <Description>The analog pin number that the airspeed sensor is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated airspeed port on the end of the board. Set to 11 on PX4 for the analog airspeed port. Set to 15 on the Pixhawk for the analog airspeed port. Set to 65 on the PX4 or Pixhawk for an EagleTree or MEAS I2C airspeed sensor.</Description>
      <User>Advanced</User>
    </ARSPD_PIN>
    <ARSPD_AUTOCAL>
      <DisplayName>Automatic airspeed ratio calibration</DisplayName>
      <Description>If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%</Description>
      <User>Advanced</User>
    </ARSPD_AUTOCAL>
    <ARSPD_TUBE_ORDER>
      <DisplayName>Control pitot tube order</DisplayName>
      <Description>This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed.</Description>
      <User>Advanced</User>
    </ARSPD_TUBE_ORDER>
    <NAVL1_PERIOD>
      <DisplayName>L1 control period</DisplayName>
      <Description>Period in seconds of L1 tracking loop. This needs to be larger for less responsive airframes. The default of 30 is very conservative, and for most RC aircraft will lead to slow and lazy turns. For smaller more agile aircraft a value closer to 20 is appropriate. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.</Description>
      <Units>seconds</Units>
      <Range>1-60</Range>
      <Increment>1</Increment>
    </NAVL1_PERIOD>
    <NAVL1_DAMPING>
      <DisplayName>L1 control damping ratio</DisplayName>
      <Description>Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.</Description>
      <Range>0.6-1.0</Range>
      <Increment>0.05</Increment>
    </NAVL1_DAMPING>
    <TECS_CLMB_MAX>
      <DisplayName>Maximum Climb Rate (metres/sec)</DisplayName>
      <Description>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 require to climb and maintain speed is noticeably less than THR_MAX, then either CLMB_MAX should be increased or THR_MAX reduced.</Description>
      <Increment>0.1</Increment>
      <User>User</User>
    </TECS_CLMB_MAX>
    <TECS_SINK_MIN>
      <DisplayName>Minimum Sink Rate (metres/sec)</DisplayName>
      <Description>This is the sink rate of the aircraft with the throttle set to THR_MIN and the same airspeed as used to measure CLMB_MAX.</Description>
      <Increment>0.1</Increment>
      <User>User</User>
    </TECS_SINK_MIN>
    <TECS_TIME_CONST>
      <DisplayName>Controller time constant (sec)</DisplayName>
      <Description>This is the time constant of the TECS control algorithm. Smaller values make it faster to respond, large values make it slower to respond.</Description>
      <Range>3.0-10.0</Range>
      <Increment>0.2</Increment>
      <User>Advanced</User>
    </TECS_TIME_CONST>
    <TECS_THR_DAMP>
      <DisplayName>Controller throttle damping</DisplayName>
      <Description>This is the damping gain for the throttle demand loop. Increase to add damping  to correct for oscillations in speed and height.</Description>
      <Range>0.1-1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_THR_DAMP>
    <TECS_INTEG_GAIN>
      <DisplayName>Controller integrator</DisplayName>
      <Description>This is the integrator gain on the control loop. Increase to increase the rate at which speed and height offsets are trimmed out</Description>
      <Range>0.0-0.5</Range>
      <Increment>0.02</Increment>
      <User>Advanced</User>
    </TECS_INTEG_GAIN>
    <TECS_VERT_ACC>
      <DisplayName>Vertical Acceleration Limit (metres/sec^2)</DisplayName>
      <Description>This is the maximum vertical acceleration either up or down that the  controller will use to correct speed or height errors.</Description>
      <Range>1.0-10.0</Range>
      <Increment>0.5</Increment>
      <User>Advanced</User>
    </TECS_VERT_ACC>
    <TECS_HGT_OMEGA>
      <DisplayName>Height complementary filter frequency (radians/sec)</DisplayName>
      <Description>This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height.</Description>
      <Range>1.0-5.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </TECS_HGT_OMEGA>
    <TECS_SPD_OMEGA>
      <DisplayName>Speed complementary filter frequency (radians/sec)</DisplayName>
      <Description>This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed.</Description>
      <Range>0.5-2.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </TECS_SPD_OMEGA>
    <TECS_RLL2THR>
      <DisplayName>Bank angle compensation gain</DisplayName>
      <Description>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.</Description>
      <Range>5.0 to 30.0</Range>
      <Increment>1.0</Increment>
      <User>Advanced</User>
    </TECS_RLL2THR>
    <TECS_SPDWEIGHT>
      <DisplayName>Weighting applied to speed control</DisplayName>
      <Description>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 airsped errors, but give larger height errors.	A value of 1.0 gives a balanced response and is the default.</Description>
      <Range>0.0 to 2.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_SPDWEIGHT>
    <TECS_PTCH_DAMP>
      <DisplayName>Controller pitch damping</DisplayName>
      <Description>This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height.</Description>
      <Range>0.1-1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_PTCH_DAMP>
    <TECS_SINK_MAX>
      <DisplayName>Maximum Descent Rate (metres/sec)</DisplayName>
      <Description>This sets the maximum descent rate that the controller will use.  If this value is too large, the aircraft will reach the pitch angle limit first and be enable to achieve the descent rate. This should be set to a value that can be achieved at the lower pitch angle limit.</Description>
      <Increment>0.1</Increment>
      <User>User</User>
    </TECS_SINK_MAX>
    <TECS_LAND_ARSPD>
      <DisplayName>Airspeed during landing approach (m/s)</DisplayName>
      <Description>When performing an autonomus landing, this value is used as the goal airspeed during approach.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is not used during landing.</Description>
      <Range>-1 to 127</Range>
      <Increment>1</Increment>
      <User>User</User>
    </TECS_LAND_ARSPD>
    <TECS_LAND_THR>
      <DisplayName>Cruise throttle during landing approach (percentage)</DisplayName>
      <Description>Use this parameter instead of LAND_ASPD if your platform does not have an airspeed sensor.  It is the cruise throttle during landing approach.  If it is negative if TECS_LAND_ASPD is in use then this value is not used during landing.</Description>
      <Range>-1 to 100</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TECS_LAND_THR>
    <TECS_LAND_SPDWGT>
      <DisplayName>Weighting applied to speed control during landing.</DisplayName>
      <Description>Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages.  A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point).  A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall.</Description>
      <Range>0.0 to 2.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_LAND_SPDWGT>
    <TECS_PITCH_MAX>
      <DisplayName>Maximum pitch in auto flight</DisplayName>
      <Description>This controls maximum pitch up in automatic throttle modes. If this is set to zero then LIM_PITCH_MAX is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode.</Description>
      <Range>0 45</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </TECS_PITCH_MAX>
    <TECS_PITCH_MIN>
      <DisplayName>Minimum pitch in auto flight</DisplayName>
      <Description>This controls minimum pitch in automatic throttle modes. If this is set to zero then LIM_PITCH_MIN is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode. Note that TECS_PITCH_MIN should be a negative number.</Description>
      <Range>-45 0</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </TECS_PITCH_MIN>
    <TECS_LAND_SINK>
      <DisplayName>Sink rate for final landing stage</DisplayName>
      <Description>The sink rate in meters/second for the final stage of landing.</Description>
      <Range>0.0 to 2.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_LAND_SINK>
    <TECS_TECS_LAND_TCONST>
      <DisplayName>Land controller time constant (sec)</DisplayName>
      <Description>This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare</Description>
      <Range>1.0-5.0</Range>
      <Increment>0.2</Increment>
      <User>Advanced</User>
    </TECS_TECS_LAND_TCONST>
    <MNT_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT_MODE>
    <MNT_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_X>
    <MNT_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Y>
    <MNT_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Z>
    <MNT_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_X>
    <MNT_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Y>
    <MNT_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Z>
    <MNT_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_X>
    <MNT_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Y>
    <MNT_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Z>
    <MNT_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_ROLL>
    <MNT_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_TILT>
    <MNT_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_PAN>
    <MNT_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_ROLL>
    <MNT_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_ROL>
    <MNT_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_ROL>
    <MNT_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_TILT>
    <MNT_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_TIL>
    <MNT_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_TIL>
    <MNT_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_PAN>
    <MNT_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_PAN>
    <MNT_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_PAN>
    <MNT_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_JSTICK_SPD>
    <MNT2_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT2_MODE>
    <MNT2_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_X>
    <MNT2_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_Y>
    <MNT2_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_Z>
    <MNT2_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_X>
    <MNT2_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_Y>
    <MNT2_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_Z>
    <MNT2_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_X>
    <MNT2_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_Y>
    <MNT2_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_Z>
    <MNT2_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_ROLL>
    <MNT2_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_TILT>
    <MNT2_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_PAN>
    <MNT2_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_ROLL>
    <MNT2_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_ROL>
    <MNT2_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_ROL>
    <MNT2_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_TILT>
    <MNT2_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_TIL>
    <MNT2_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_TIL>
    <MNT2_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_PAN>
    <MNT2_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_PAN>
    <MNT2_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_PAN>
    <MNT2_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_JSTICK_SPD>
    <BATT_MONITOR>
      <DisplayName>Battery monitoring</DisplayName>
      <Description>Controls enabling monitoring of the battery's voltage and current</Description>
      <Values>0:Disabled,3:Voltage Only,4:Voltage and Current</Values>
      <User>Standard</User>
    </BATT_MONITOR>
    <BATT_VOLT_PIN>
      <DisplayName>Battery Voltage sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.</Description>
      <Values>-1:Disabled, 0:A0, 1:A1, 2:Pixhawk, 13:A13, 100:PX4</Values>
      <User>Standard</User>
    </BATT_VOLT_PIN>
    <BATT_CURR_PIN>
      <DisplayName>Battery Current sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.</Description>
      <Values>-1:Disabled, 1:A1, 2:A2, 3:Pixhawk, 12:A12, 101:PX4</Values>
      <User>Standard</User>
    </BATT_CURR_PIN>
    <BATT_VOLT_MULT>
      <DisplayName>Voltage Multiplier</DisplayName>
      <Description>Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.</Description>
      <User>Advanced</User>
    </BATT_VOLT_MULT>
    <BATT_AMP_PERVOLT>
      <DisplayName>Amps per volt</DisplayName>
      <Description>Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.</Description>
      <Units>A/V</Units>
      <User>Standard</User>
    </BATT_AMP_PERVOLT>
    <BATT_AMP_OFFSET>
      <DisplayName>AMP offset</DisplayName>
      <Description>Voltage offset at zero current on current sensor</Description>
      <Units>Volts</Units>
      <User>Standard</User>
    </BATT_AMP_OFFSET>
    <BATT_CAPACITY>
      <DisplayName>Battery capacity</DisplayName>
      <Description>Capacity of the battery in mAh when full</Description>
      <Units>mAh</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </BATT_CAPACITY>
    <BATT_VOLT2_PIN>
      <DisplayName>2nd Battery Voltage sensing pin</DisplayName>
      <Description>This sets the pin for sensing the voltage on a 2nd battery. Set to -1 to disable sensing of a second battery</Description>
      <User>Standard</User>
    </BATT_VOLT2_PIN>
    <BATT_VOLT2_MULT>
      <DisplayName>2nd battery voltage multiplier</DisplayName>
      <Description>Used to convert the voltage of the VOLT2_PIN to the actual battery's voltage (pin_voltage * VOLT_MULT).</Description>
      <User>Advanced</User>
    </BATT_VOLT2_MULT>
    <BRD_PWM_COUNT>
      <DisplayName>PWM Count</DisplayName>
      <Description>Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.</Description>
      <Values>0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs</Values>
    </BRD_PWM_COUNT>
    <BRD_SER1_RTSCTS>
      <DisplayName>Serial 1 flow control</DisplayName>
      <Description>Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER1_RTSCTS>
    <BRD_SER2_RTSCTS>
      <DisplayName>Serial 2 flow control</DisplayName>
      <Description>Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER2_RTSCTS>
    <BRD_SAFETYENABLE>
      <DisplayName>Enable use of safety arming switch</DisplayName>
      <Description>Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.</Description>
      <Values>0:Disabled,1:Enabled</Values>
    </BRD_SAFETYENABLE>
    <AFS_MAN_PIN>
      <DisplayName>Manual Pin</DisplayName>
      <Description>This sets a digital output pin to set high when in manual mode</Description>
      <User>Advanced</User>
    </AFS_MAN_PIN>
    <AFS_HB_PIN>
      <DisplayName>Heartbeat Pin</DisplayName>
      <Description>This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.</Description>
      <User>Advanced</User>
    </AFS_HB_PIN>
    <AFS_WP_COMMS>
      <DisplayName>Comms Waypoint</DisplayName>
      <Description>Waypoint number to navigate to on comms loss</Description>
      <User>Advanced</User>
    </AFS_WP_COMMS>
    <AFS_GPS_LOSS>
      <DisplayName>GPS Loss Waypoint</DisplayName>
      <Description>Waypoint number to navigate to on GPS lock loss</Description>
      <User>Advanced</User>
    </AFS_GPS_LOSS>
    <AFS_TERMINATE>
      <DisplayName>Force Terminate</DisplayName>
      <Description>Can be set in flight to force termination of the heartbeat signal</Description>
      <User>Advanced</User>
    </AFS_TERMINATE>
    <AFS_TERM_ACTION>
      <DisplayName>Terminate action</DisplayName>
      <Description>This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle</Description>
      <User>Advanced</User>
    </AFS_TERM_ACTION>
    <AFS_TERM_PIN>
      <DisplayName>Terminate Pin</DisplayName>
      <Description>This sets a digital output pin to set high on flight termination</Description>
      <User>Advanced</User>
    </AFS_TERM_PIN>
    <AFS_AMSL_LIMIT>
      <DisplayName>AMSL limit</DisplayName>
      <Description>This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.</Description>
      <User>Advanced</User>
      <Units>meters</Units>
    </AFS_AMSL_LIMIT>
    <AFS_AMSL_ERR_GPS>
      <DisplayName>Error margin for GPS based AMSL limit</DisplayName>
      <Description>This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.</Description>
      <User>Advanced</User>
      <Units>meters</Units>
    </AFS_AMSL_ERR_GPS>
    <AFS_QNH_PRESSURE>
      <DisplayName>QNH pressure</DisplayName>
      <Description>This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.</Description>
      <Units>millibar</Units>
      <User>Advanced</User>
    </AFS_QNH_PRESSURE>
    <AFS_ENABLE>
      <DisplayName>Enable Advanced Failsafe</DisplayName>
      <Description>This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect</Description>
      <User>Advanced</User>
    </AFS_ENABLE>
    <AFS_RC_FAIL_MS>
      <DisplayName>RC failure time</DisplayName>
      <Description>This is the time in milliseconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be 1500. Use 0 to disable.</Description>
      <User>Advanced</User>
    </AFS_RC_FAIL_MS>
    <AFS_MAX_GPS_LOSS>
      <DisplayName>Maximum number of GPS loss events</DisplayName>
      <Description>Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.</Description>
      <User>Advanced</User>
    </AFS_MAX_GPS_LOSS>
    <AFS_MAX_COM_LOSS>
      <DisplayName>Maximum number of comms loss events</DisplayName>
      <Description>Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.</Description>
      <User>Advanced</User>
    </AFS_MAX_COM_LOSS>
    <EKF_VELNE_NOISE>
      <DisplayName>GPS horizontal velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the North and East GPS velocity measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.05 - 5.0</Range>
      <Increment>0.05</Increment>
      <User>advanced</User>
    </EKF_VELNE_NOISE>
    <EKF_VELD_NOISE>
      <DisplayName>GPS vertical velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the vertical GPS velocity measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.05 - 5.0</Range>
      <Increment>0.05</Increment>
      <User>advanced</User>
    </EKF_VELD_NOISE>
    <EKF_POSNE_NOISE>
      <DisplayName>GPS horizontal position measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.1 - 10.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_POSNE_NOISE>
    <EKF_ALT_NOISE>
      <DisplayName>Altitude measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.1 - 10.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_ALT_NOISE>
    <EKF_MAG_NOISE>
      <DisplayName>Magnetometer measurement noise (Gauss)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.01 - 0.5</Range>
      <Increment>0.01</Increment>
      <User>advanced</User>
    </EKF_MAG_NOISE>
    <EKF_EAS_NOISE>
      <DisplayName>Equivalent airspeed measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.5 - 5.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_EAS_NOISE>
    <EKF_WIND_PNOISE>
      <DisplayName>Wind velocity process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.</Description>
      <Range>0.01 - 1.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_WIND_PNOISE>
    <EKF_WIND_PSCALE>
      <DisplayName>Height rate to wind procss noise scaler</DisplayName>
      <Description>Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser.</Description>
      <Range>0.0 - 1.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_WIND_PSCALE>
    <EKF_GYRO_PNOISE>
      <DisplayName>Rate gyro noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.</Description>
      <Range>0.001 - 0.05</Range>
      <Increment>0.001</Increment>
      <User>advanced</User>
    </EKF_GYRO_PNOISE>
    <EKF_ACC_PNOISE>
      <DisplayName>Accelerometer noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.</Description>
      <Range>0.05 - 1.0    AP_Float _gpsNEVelVarAccScale;  // scale factor applied to NE velocity measurement variance due to Vdot</Range>
      <Increment>0.01</Increment>
      <User>advanced</User>
    </EKF_ACC_PNOISE>
    <EKF_GBIAS_PNOISE>
      <DisplayName>Rate gyro bias process noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.</Description>
      <Range>0.0000001 - 0.00001</Range>
      <User>advanced</User>
    </EKF_GBIAS_PNOISE>
    <EKF_ABIAS_PNOISE>
      <DisplayName>Accelerometer bias process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.</Description>
      <Range>0.00001 - 0.001</Range>
      <User>advanced</User>
    </EKF_ABIAS_PNOISE>
    <EKF_MAGE_PNOISE>
      <DisplayName>Earth magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier.</Description>
      <Range>0.0001 - 0.01</Range>
      <User>advanced</User>
    </EKF_MAGE_PNOISE>
    <EKF_MAGB_PNOISE>
      <DisplayName>Body magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier.</Description>
      <Range>0.0001 - 0.01</Range>
      <User>advanced</User>
    </EKF_MAGB_PNOISE>
    <EKF_VEL_DELAY>
      <DisplayName>GPS velocity measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS velocity measurements lag behind the inertial measurements.</Description>
      <Range>0 - 500</Range>
      <Increment>10</Increment>
      <User>advanced</User>
    </EKF_VEL_DELAY>
    <EKF_POS_DELAY>
      <DisplayName>GPS position measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS position measurements lag behind the inertial measurements.</Description>
      <Range>0 - 500</Range>
      <Increment>10</Increment>
      <User>advancedScale factor applied to horizontal position measurement variance due to manoeuvre acceleration</User>
    </EKF_POS_DELAY>
    <EKF_GPS_TYPE>
      <DisplayName>GPS velocity mode control</DisplayName>
      <Description>This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity</Description>
      <Range>0 - 3</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_GPS_TYPE>
    <EKF_VEL_GATE>
      <DisplayName>GPS velocity measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_VEL_GATE>
    <EKF_POS_GATE>
      <DisplayName>GPS position measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_POS_GATE>
    <EKF_HGT_GATE>
      <DisplayName>Height measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_HGT_GATE>
    <EKF_MAG_GATE>
      <DisplayName>Magnetometer measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_MAG_GATE>
    <EKF_EAS_GATE>
      <DisplayName>Airspeed measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_EAS_GATE>
    <EKF_MAG_CAL>
      <DisplayName>Magnetometer calibration mode</DisplayName>
      <Description>EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.</Description>
      <Values>0:Speed and Height,1:Acceleration,2:Never</Values>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_MAG_CAL>
    <EKF_GLITCH_ACCEL>
      <DisplayName>GPS glitch accel gate size (cm/s^2)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position.</Description>
      <Range>100 - 500</Range>
      <Increment>50</Increment>
      <User>advanced</User>
    </EKF_GLITCH_ACCEL>
    <EKF_GLITCH_RAD>
      <DisplayName>GPS glitch radius gate size (m)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement.</Description>
      <Range>10 - 50</Range>
      <Increment>5</Increment>
      <User>advanced</User>
    </EKF_GLITCH_RAD>
    <MIS_TOTAL>
      <DisplayName>Total mission commands</DisplayName>
      <Description>The number of mission mission items that has been loaded by the ground station. Do not change this manually.</Description>
      <Range>0 32766</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </MIS_TOTAL>
    <MIS_RESTART>
      <DisplayName>Mission Restart when entering Auto mode</DisplayName>
      <Description>Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)</Description>
      <Values>0:Resume Mission, 1:Restart Mission</Values>
    </MIS_RESTART>
    <RALLY_TOTAL>
      <DisplayName>Rally Total</DisplayName>
      <Description>Number of rally points currently loaded</Description>
      <User>Advanced</User>
    </RALLY_TOTAL>
    <RALLY_LIMIT_KM>
      <DisplayName>Rally Limit</DisplayName>
      <Description>Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.</Description>
      <User>Advanced</User>
      <Units>kilometers</Units>
      <Increment>0.1</Increment>
    </RALLY_LIMIT_KM>
    <FORMAT_VERSION>
      <DisplayName>Eeprom format version number</DisplayName>
      <Description>This value is incremented when changes are made to the eeprom format</Description>
      <User>Advanced</User>
    </FORMAT_VERSION>
    <SYSID_SW_TYPE>
      <DisplayName>Software Type</DisplayName>
      <Description>This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)</Description>
      <User>Advanced</User>
    </SYSID_SW_TYPE>
    <SYSID_THISMAV>
      <DisplayName>MAVLink system ID</DisplayName>
      <Description>The identifier of this device in the MAVLink protocol</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_THISMAV>
    <SYSID_MYGCS>
      <DisplayName>Ground station MAVLink system ID</DisplayName>
      <Description>The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_MYGCS>
    <SERIAL0_BAUD>
      <DisplayName>USB Console Baud Rate</DisplayName>
      <Description>The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL0_BAUD>
    <SERIAL1_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the first telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL1_BAUD>
    <SERIAL2_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the second telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL2_BAUD>
    <SERIAL2_PROTOCOL>
      <DisplayName>SERIAL2 protocol selection</DisplayName>
      <Description>Control what protocol telemetry 2 port should be used for</Description>
      <Values>1:GCS Mavlink,2:Frsky D-PORT</Values>
      <User>Standard</User>
    </SERIAL2_PROTOCOL>
    <AUTOTUNE_LEVEL>
      <DisplayName>Autotune level</DisplayName>
      <Description>Level of agressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less agressive gains. For most users a level of 5 is recommended.</Description>
      <Range>1 10</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </AUTOTUNE_LEVEL>
    <TELEM_DELAY>
      <DisplayName>Telemetry startup delay</DisplayName>
      <Description>The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up</Description>
      <User>Standard</User>
      <Units>seconds</Units>
      <Range>0 10</Range>
      <Increment>1</Increment>
    </TELEM_DELAY>
    <KFF_RDDRMIX>
      <DisplayName>Rudder Mix</DisplayName>
      <Description>The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%</Description>
      <Range>0 1</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </KFF_RDDRMIX>
    <KFF_THR2PTCH>
      <DisplayName>Throttle to Pitch Mix</DisplayName>
      <Description>Throttle to pitch feed-forward gain.</Description>
      <Range>0 5</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </KFF_THR2PTCH>
    <STAB_PITCH_DOWN>
      <DisplayName>Low throttle pitch down trim</DisplayName>
      <Description>This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft.</Description>
      <Range>0 15</Range>
      <Increment>0.1</Increment>
      <Units>Degrees</Units>
      <User>Advanced</User>
    </STAB_PITCH_DOWN>
    <GLIDE_SLOPE_MIN>
      <DisplayName>Glide slope threshold</DisplayName>
      <Description>This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude.</Description>
      <Range>0 1000</Range>
      <Increment>1</Increment>
      <Units>meters</Units>
      <User>Advanced</User>
    </GLIDE_SLOPE_MIN>
    <STICK_MIXING>
      <DisplayName>Stick Mixing</DisplayName>
      <Description>When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.</Description>
      <Values>0:Disabled,1:FBWMixing,2:DirectMixing</Values>
      <User>Advanced</User>
    </STICK_MIXING>
    <SKIP_GYRO_CAL>
      <DisplayName>Skip gyro calibration</DisplayName>
      <Description>When enabled this tells the APM to skip the normal gyroscope calibration at startup, and instead use the saved gyro calibration from the last flight. You should only enable this if you are careful to check that your aircraft has good attitude control before flying, as some boards may have significantly different gyro calibration between boots, especially if the temperature changes a lot. If gyro calibration is skipped then APM relies on using the gyro drift detection code to get the right gyro calibration in the few minutes after it boots. This option is mostly useful where the requirement to hold the plane still while it is booting is a significant problem.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </SKIP_GYRO_CAL>
    <AUTO_FBW_STEER>
      <DisplayName>Use FBWA steering in AUTO</DisplayName>
      <Description>When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. This option is not recommended for normal use.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AUTO_FBW_STEER>
    <TKOFF_THR_MINSPD>
      <DisplayName>Takeoff throttle min speed</DisplayName>
      <Description>Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for cvatapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.</Description>
      <Units>m/s</Units>
      <Range>0 30</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TKOFF_THR_MINSPD>
    <TKOFF_THR_MINACC>
      <DisplayName>Takeoff throttle min acceleration</DisplayName>
      <Description>Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches this should be set to 15.</Description>
      <Units>m/s/s</Units>
      <Range>0 30</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TKOFF_THR_MINACC>
    <TKOFF_THR_DELAY>
      <DisplayName>Takeoff throttle delay</DisplayName>
      <Description>This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start.</Description>
      <Units>0.1 seconds</Units>
      <Range>0 15</Range>
      <Increment>1</Increment>
      <User>User</User>
    </TKOFF_THR_DELAY>
    <TKOFF_TDRAG_ELEV>
      <DisplayName>Takeoff tail dragger elevator</DisplayName>
      <Description>This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be conbined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.</Description>
      <Units>Percent</Units>
      <Range>-100 100</Range>
      <Increment>1</Increment>
      <User>User</User>
    </TKOFF_TDRAG_ELEV>
    <TKOFF_TDRAG_SPD1>
      <DisplayName>Takeoff tail dragger speed1</DisplayName>
      <Description>This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages. For tail dragger aircraft it should be set just below the stall speed.</Description>
      <Units>m/s</Units>
      <Range>0 30</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TKOFF_TDRAG_SPD1>
    <TKOFF_ROTATE_SPD>
      <DisplayName>Takeoff rotate speed</DisplayName>
      <Description>This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent</Description>
      <Units>m/s</Units>
      <Range>0 30</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TKOFF_ROTATE_SPD>
    <TKOFF_THR_SLEW>
      <DisplayName>Takeoff throttle slew rate</DisplayName>
      <Description>This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle.</Description>
      <Units>percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>User</User>
    </TKOFF_THR_SLEW>
    <TKOFF_FLAP_PCNT>
      <DisplayName>Takeoff flap percentage</DisplayName>
      <Description>The amount of flaps (as a percentage) to apply in automatic takeoff</Description>
      <Range>0 100</Range>
      <Units>Percent</Units>
      <User>Advanced</User>
    </TKOFF_FLAP_PCNT>
    <FBWA_TDRAG_CHAN>
      <DisplayName>FBWA taildragger channel</DisplayName>
      <Description>This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option.</Description>
      <User>Standard</User>
    </FBWA_TDRAG_CHAN>
    <LEVEL_ROLL_LIMIT>
      <DisplayName>Level flight roll limit</DisplayName>
      <Description>This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach.</Description>
      <Units>degrees</Units>
      <Range>0 45</Range>
      <Increment>1</Increment>
      <User>User</User>
    </LEVEL_ROLL_LIMIT>
    <LAND_PITCH_CD>
      <DisplayName>Landing Pitch</DisplayName>
      <Description>Used in autoland for planes without airspeed sensors in hundredths of a degree</Description>
      <Units>centi-Degrees</Units>
      <User>Advanced</User>
    </LAND_PITCH_CD>
    <LAND_FLARE_ALT>
      <DisplayName>Landing flare altitude</DisplayName>
      <Description>Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch</Description>
      <Units>meters</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </LAND_FLARE_ALT>
    <LAND_FLARE_SEC>
      <DisplayName>Landing flare time</DisplayName>
      <Description>Time before landing point at which to lock heading and flare to the LAND_PITCH_CD pitch</Description>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </LAND_FLARE_SEC>
    <NAV_CONTROLLER>
      <DisplayName>Navigation controller selection</DisplayName>
      <Description>Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental conrtrollers will be added which are selected using this parameter.</Description>
      <Values>0:Default,1:L1Controller</Values>
      <User>Standard</User>
    </NAV_CONTROLLER>
    <ALT_MIX>
      <DisplayName>GPS to Baro Mix</DisplayName>
      <Description>The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude baloon many kilometers off the ground.</Description>
      <Units>Percent</Units>
      <Range>0 1</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </ALT_MIX>
    <ALT_CTRL_ALG>
      <DisplayName>Altitude control algorithm</DisplayName>
      <Description>This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be seleted using this parameter.</Description>
      <Values>0:Automatic</Values>
      <User>Advanced</User>
    </ALT_CTRL_ALG>
    <ALT_OFFSET>
      <DisplayName>Altitude offset</DisplayName>
      <Description>This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission</Description>
      <Units>Meters</Units>
      <Range>-32767 32767</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </ALT_OFFSET>
    <WP_RADIUS>
      <DisplayName>Waypoint Radius</DisplayName>
      <Description>Defines the distance from a waypoint that when crossed indicates the waypoint has been completed. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete.</Description>
      <Units>Meters</Units>
      <Range>1 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </WP_RADIUS>
    <WP_MAX_RADIUS>
      <DisplayName>Waypoint Maximum Radius</DisplayName>
      <Description>Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.</Description>
      <Units>Meters</Units>
      <Range>0 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </WP_MAX_RADIUS>
    <WP_LOITER_RAD>
      <DisplayName>Waypoint Loiter Radius</DisplayName>
      <Description>Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.</Description>
      <Units>Meters</Units>
      <Range>-32767 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </WP_LOITER_RAD>
    <FENCE_ACTION>
      <DisplayName>Action on geofence breach</DisplayName>
      <Description>What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control.</Description>
      <Values>0:None,1:GuidedMode,2:ReportOnly,3:GuidedModeThrPass</Values>
      <User>Standard</User>
    </FENCE_ACTION>
    <FENCE_TOTAL>
      <DisplayName>Fence Total</DisplayName>
      <Description>Number of geofence points currently loaded</Description>
      <User>Advanced</User>
    </FENCE_TOTAL>
    <FENCE_CHANNEL>
      <DisplayName>Fence Channel</DisplayName>
      <Description>RC Channel to use to enable geofence. PWM input above 1750 enables the geofence</Description>
      <User>Standard</User>
    </FENCE_CHANNEL>
    <FENCE_MINALT>
      <DisplayName>Fence Minimum Altitude</DisplayName>
      <Description>Minimum altitude allowed before geofence triggers</Description>
      <Units>meters</Units>
      <Range>0 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FENCE_MINALT>
    <FENCE_MAXALT>
      <DisplayName>Fence Maximum Altitude</DisplayName>
      <Description>Maximum altitude allowed before geofence triggers</Description>
      <Units>meters</Units>
      <Range>0 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FENCE_MAXALT>
    <FENCE_RETALT>
      <DisplayName>Fence Return Altitude</DisplayName>
      <Description>Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach.</Description>
      <Units>meters</Units>
      <Range>0 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FENCE_RETALT>
    <FENCE_AUTOENABLE>
      <DisplayName>Fence automatic enable</DisplayName>
      <Description>When set to 1, gefence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead.</Description>
      <Values>0:NoAutoEnable,1:AutoEnable</Values>
      <User>Standard</User>
    </FENCE_AUTOENABLE>
    <FENCE_RET_RALLY>
      <DisplayName>Fence Return to Rally</DisplayName>
      <Description>When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point.  If no rally points have been defined the plane will return to the home point.</Description>
      <Values>0:FenceReturnPoint,1:NearestRallyPoint</Values>
      <User>Standard</User>
    </FENCE_RET_RALLY>
    <ARSPD_FBW_MIN>
      <DisplayName>Fly By Wire Minimum Airspeed</DisplayName>
      <Description>Airspeed corresponding to minimum throttle in auto throttle modes (FBWB, CRUISE, AUTO, GUIDED, LOITER, CIRCLE and RTL). This is a calibrated (apparent) airspeed.</Description>
      <Units>m/s</Units>
      <Range>5 50</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </ARSPD_FBW_MIN>
    <ARSPD_FBW_MAX>
      <DisplayName>Fly By Wire Maximum Airspeed</DisplayName>
      <Description>Airspeed corresponding to maximum throttle in auto throttle modes (FBWB, CRUISE, AUTO, GUIDED, LOITER, CIRCLE and RTL). This is a calibrated (apparent) airspeed.</Description>
      <Units>m/s</Units>
      <Range>5 50</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </ARSPD_FBW_MAX>
    <FBWB_ELEV_REV>
      <DisplayName>Fly By Wire elevator reverse</DisplayName>
      <Description>Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </FBWB_ELEV_REV>
    <TERRAIN_FOLLOW>
      <DisplayName>Use terrain following</DisplayName>
      <Description>This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </TERRAIN_FOLLOW>
    <TERRAIN_LOOKAHD>
      <DisplayName>Terrain lookahead</DisplayName>
      <Description>This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.</Description>
      <Range>0 10000</Range>
      <Units>meters</Units>
      <User>Standard</User>
    </TERRAIN_LOOKAHD>
    <FBWB_CLIMB_RATE>
      <DisplayName>Fly By Wire B altitude change rate</DisplayName>
      <Description>This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.</Description>
      <Range>1-10</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </FBWB_CLIMB_RATE>
    <THR_MIN>
      <DisplayName>Minimum Throttle</DisplayName>
      <Description>The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MIN>
    <THR_MAX>
      <DisplayName>Maximum Throttle</DisplayName>
      <Description>The maximum throttle setting (as a percentage) which the autopilot will apply.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MAX>
    <TKOFF_THR_MAX>
      <DisplayName>Maximum Throttle for takeoff</DisplayName>
      <Description>The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </TKOFF_THR_MAX>
    <THR_SLEWRATE>
      <DisplayName>Throttle slew rate</DisplayName>
      <Description>maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_SLEWRATE>
    <FLAP_SLEWRATE>
      <DisplayName>Flap slew rate</DisplayName>
      <Description>maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </FLAP_SLEWRATE>
    <THR_SUPP_MAN>
      <DisplayName>Throttle suppress manual passthru</DisplayName>
      <Description>When throttle is supressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </THR_SUPP_MAN>
    <THR_PASS_STAB>
      <DisplayName>Throttle passthru in stabilize</DisplayName>
      <Description>If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </THR_PASS_STAB>
    <THR_FAILSAFE>
      <DisplayName>Throttle Failsafe Enable</DisplayName>
      <Description>The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </THR_FAILSAFE>
    <THR_FS_VALUE>
      <DisplayName>Throttle Failsafe Value</DisplayName>
      <Description>The PWM level on channel 3 below which throttle sailsafe triggers</Description>
      <Range>925 1100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_FS_VALUE>
    <TRIM_THROTTLE>
      <DisplayName>Throttle cruise percentage</DisplayName>
      <Description>The target percentage of throttle to apply for normal flight</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </TRIM_THROTTLE>
    <THROTTLE_NUDGE>
      <DisplayName>Throttle nudge enable</DisplayName>
      <Description>When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </THROTTLE_NUDGE>
    <FS_SHORT_ACTN>
      <DisplayName>Short failsafe action</DisplayName>
      <Description>The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (including AUTO and GUIDED mode) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe.</Description>
      <Values>0:Continue,1:Circle/ReturnToLaunch,2:Glide</Values>
      <User>Standard</User>
    </FS_SHORT_ACTN>
    <FS_SHORT_TIMEOUT>
      <DisplayName>Short failsafe timeout</DisplayName>
      <Description>The time in seconds that a failsafe condition has to persist before a short failsafe event will occor. This defaults to 1.5 seconds</Description>
      <Units>seconds</Units>
      <Range>1 100</Range>
      <Increment>0.5</Increment>
      <User>Standard</User>
    </FS_SHORT_TIMEOUT>
    <FS_LONG_ACTN>
      <DisplayName>Long failsafe action</DisplayName>
      <Description>The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2.</Description>
      <Values>0:Continue,1:ReturnToLaunch,2:Glide</Values>
      <User>Standard</User>
    </FS_LONG_ACTN>
    <FS_LONG_TIMEOUT>
      <DisplayName>Long failsafe timeout</DisplayName>
      <Description>The time in seconds that a failsafe condition has to persist before a long failsafe event will occor. This defaults to 20 seconds</Description>
      <Units>seconds</Units>
      <Range>1 300</Range>
      <Increment>0.5</Increment>
      <User>Standard</User>
    </FS_LONG_TIMEOUT>
    <FS_BATT_VOLTAGE>
      <DisplayName>Failsafe battery voltage</DisplayName>
      <Description>Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode</Description>
      <Units>Volts</Units>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </FS_BATT_VOLTAGE>
    <FS_BATT_MAH>
      <DisplayName>Failsafe battery milliAmpHours</DisplayName>
      <Description>Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately</Description>
      <Units>mAh</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </FS_BATT_MAH>
    <FS_GCS_ENABL>
      <DisplayName>GCS failsafe enable</DisplayName>
      <Description>Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggerded on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios). WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.</Description>
      <Values>0:Disabled,1:Heartbeat,2:HeartbeatAndREMRSSI</Values>
      <User>Standard</User>
    </FS_GCS_ENABL>
    <FLTMODE_CH>
      <DisplayName>Flightmode channel</DisplayName>
      <Description>RC Channel to use for flight mode control</Description>
      <User>Advanced</User>
    </FLTMODE_CH>
    <FLTMODE1>
      <DisplayName>FlightMode1</DisplayName>
      <Values>0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,15:Guided</Values>
      <User>Standard</User>
      <Description>Flight mode for switch position 1 (910 to 1230 and above 2049)</Description>
    </FLTMODE1>
    <FLTMODE2>
      <DisplayName>FlightMode2</DisplayName>
      <Description>Flight mode for switch position 2 (1231 to 1360)</Description>
      <Values>0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,15:Guided</Values>
      <User>Standard</User>
    </FLTMODE2>
    <FLTMODE3>
      <DisplayName>FlightMode3</DisplayName>
      <Description>Flight mode for switch position 3 (1361 to 1490)</Description>
      <Values>0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,15:Guided</Values>
      <User>Standard</User>
    </FLTMODE3>
    <FLTMODE4>
      <DisplayName>FlightMode4</DisplayName>
      <Description>Flight mode for switch position 4 (1491 to 1620)</Description>
      <Values>0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,15:Guided</Values>
      <User>Standard</User>
    </FLTMODE4>
    <FLTMODE5>
      <DisplayName>FlightMode5</DisplayName>
      <Description>Flight mode for switch position 5 (1621 to 1749)</Description>
      <Values>0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,15:Guided</Values>
      <User>Standard</User>
    </FLTMODE5>
    <FLTMODE6>
      <DisplayName>FlightMode6</DisplayName>
      <Description>Flight mode for switch position 6 (1750 to 2049)</Description>
      <Values>0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,15:Guided</Values>
      <User>Standard</User>
    </FLTMODE6>
    <LIM_ROLL_CD>
      <DisplayName>Maximum Bank Angle</DisplayName>
      <Description>The maximum commanded bank angle in either direction</Description>
      <Units>centi-Degrees</Units>
      <Range>0 9000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </LIM_ROLL_CD>
    <LIM_PITCH_MAX>
      <DisplayName>Maximum Pitch Angle</DisplayName>
      <Description>The maximum commanded pitch up angle</Description>
      <Units>centi-Degrees</Units>
      <Range>0 9000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </LIM_PITCH_MAX>
    <LIM_PITCH_MIN>
      <DisplayName>Minimum Pitch Angle</DisplayName>
      <Description>The minimum commanded pitch down angle</Description>
      <Units>centi-Degrees</Units>
      <Range>-9000 0</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </LIM_PITCH_MIN>
    <ACRO_ROLL_RATE>
      <DisplayName>ACRO mode roll rate</DisplayName>
      <Description>The maximum roll rate at full stick deflection in ACRO mode</Description>
      <Units>degrees/second</Units>
      <Range>10 500</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </ACRO_ROLL_RATE>
    <ACRO_PITCH_RATE>
      <DisplayName>ACRO mode pitch rate</DisplayName>
      <Description>The maximum pitch rate at full stick deflection in ACRO mode</Description>
      <Units>degrees/second</Units>
      <Range>10 500</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </ACRO_PITCH_RATE>
    <ACRO_LOCKING>
      <DisplayName>ACRO mode attitude locking</DisplayName>
      <Description>Enable attitude locking when sticks are released</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </ACRO_LOCKING>
    <GROUND_STEER_ALT>
      <DisplayName>Ground steer altitude</DisplayName>
      <Description>Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.</Description>
      <Units>Meters</Units>
      <Range>-100 100</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </GROUND_STEER_ALT>
    <GROUND_STEER_DPS>
      <DisplayName>Ground steer rate</DisplayName>
      <Description>Ground steering rate in degrees per second for full rudder stick deflection</Description>
      <Units>degrees/second</Units>
      <Range>10 360</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </GROUND_STEER_DPS>
    <TRIM_AUTO>
      <DisplayName>Automatic trim adjustment</DisplayName>
      <Description>Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </TRIM_AUTO>
    <ELEVON_MIXING>
      <DisplayName>Elevon mixing</DisplayName>
      <Description>Enable elevon mixing  on both input and output. To enable just output mixing see the ELEVON_OUTPUT option.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>User</User>
    </ELEVON_MIXING>
    <ELEVON_REVERSE>
      <DisplayName>Elevon reverse</DisplayName>
      <Description>Reverse elevon mixing</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>User</User>
    </ELEVON_REVERSE>
    <ELEVON_CH1_REV>
      <DisplayName>Elevon reverse</DisplayName>
      <Description>Reverse elevon channel 1</Description>
      <Values>-1:Disabled,1:Enabled</Values>
      <User>User</User>
    </ELEVON_CH1_REV>
    <ELEVON_CH2_REV>
      <DisplayName>Elevon reverse</DisplayName>
      <Description>Reverse elevon channel 2</Description>
      <Values>-1:Disabled,1:Enabled</Values>
      <User>User</User>
    </ELEVON_CH2_REV>
    <VTAIL_OUTPUT>
      <DisplayName>VTail output</DisplayName>
      <Description>Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer.</Description>
      <Values>0:Disabled,1:UpUp,2:UpDown,3:DownUp,4:DownDown</Values>
      <User>User</User>
    </VTAIL_OUTPUT>
    <ELEVON_OUTPUT>
      <DisplayName>Elevon output</DisplayName>
      <Description>Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer.</Description>
      <Values>0:Disabled,1:UpUp,2:UpDown,3:DownUp,4:DownDown</Values>
      <User>User</User>
    </ELEVON_OUTPUT>
    <MIXING_GAIN>
      <DisplayName>Mixing Gain</DisplayName>
      <Description>The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.</Description>
      <Range>0.5 1.2</Range>
      <User>User</User>
    </MIXING_GAIN>
    <SYS_NUM_RESETS>
      <DisplayName>Num Resets</DisplayName>
      <Description>Number of APM board resets</Description>
      <User>Advanced</User>
    </SYS_NUM_RESETS>
    <LOG_BITMASK>
      <DisplayName>Log bitmask</DisplayName>
      <Description>Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, LogWhenDisarmed=65536</Description>
      <Values>0:Disabled,5190:APM2-Default,65535:PX4/Pixhawk-Default</Values>
      <User>Advanced</User>
    </LOG_BITMASK>
    <RST_SWITCH_CH>
      <DisplayName>Reset Switch Channel</DisplayName>
      <Description>RC channel to use to reset to last flight mode	after geofence takeover.</Description>
      <User>Advanced</User>
    </RST_SWITCH_CH>
    <RST_MISSION_CH>
      <DisplayName>Reset Mission Channel</DisplayName>
      <Description>RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable.</Description>
      <User>Advanced</User>
    </RST_MISSION_CH>
    <TRIM_ARSPD_CM>
      <DisplayName>Target airspeed</DisplayName>
      <Description>Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed.</Description>
      <Units>cm/s</Units>
      <User>User</User>
    </TRIM_ARSPD_CM>
    <SCALING_SPEED>
      <DisplayName>speed used for speed scaling calculations</DisplayName>
      <Description>Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values</Description>
      <Units>m/s</Units>
      <User>Advanced</User>
    </SCALING_SPEED>
    <MIN_GNDSPD_CM>
      <DisplayName>Minimum ground speed</DisplayName>
      <Description>Minimum ground speed in cm/s when under airspeed control</Description>
      <Units>cm/s</Units>
      <User>Advanced</User>
    </MIN_GNDSPD_CM>
    <TRIM_PITCH_CD>
      <DisplayName>Pitch angle offset</DisplayName>
      <Description>offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude.</Description>
      <Units>centi-Degrees</Units>
      <User>Advanced</User>
    </TRIM_PITCH_CD>
    <ALT_HOLD_RTL>
      <DisplayName>RTL altitude</DisplayName>
      <Description>Return to launch target altitude. This is the altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the alitude of the Rally Point is used instead of ALT_HOLD_RTL.</Description>
      <Units>centimeters</Units>
      <User>User</User>
    </ALT_HOLD_RTL>
    <ALT_HOLD_FBWCM>
      <DisplayName>Minimum altitude for FBWB mode</DisplayName>
      <Description>This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit.</Description>
      <Units>centimeters</Units>
      <User>User</User>
    </ALT_HOLD_FBWCM>
    <MAG_ENABLE>
      <DisplayName>Enable Compass</DisplayName>
      <Description>Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MAG_ENABLE>
    <FLAP_IN_CHANNEL>
      <DisplayName>Flap input channel</DisplayName>
      <Description>An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting.</Description>
      <User>User</User>
    </FLAP_IN_CHANNEL>
    <FLAPERON_OUTPUT>
      <DisplayName>Flaperon output</DisplayName>
      <Description>Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxillary channels. There are 4 different mixing modes available, which refer to the 4 ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you must not use flaperon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable FLAPERON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING.</Description>
      <Values>0:Disabled,1:UpUp,2:UpDown,3:DownUp,4:DownDown</Values>
      <User>User</User>
    </FLAPERON_OUTPUT>
    <FLAP_1_PERCNT>
      <DisplayName>Flap 1 percentage</DisplayName>
      <Description>The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps</Description>
      <Range>0 100</Range>
      <Units>Percent</Units>
      <User>Advanced</User>
    </FLAP_1_PERCNT>
    <FLAP_1_SPEED>
      <DisplayName>Flap 1 speed</DisplayName>
      <Description>The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <Units>m/s</Units>
      <User>Advanced</User>
    </FLAP_1_SPEED>
    <FLAP_2_PERCNT>
      <DisplayName>Flap 2 percentage</DisplayName>
      <Description>The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps</Description>
      <Range>0 100</Range>
      <Units>Percent</Units>
      <User>Advanced</User>
    </FLAP_2_PERCNT>
    <FLAP_2_SPEED>
      <DisplayName>Flap 2 speed</DisplayName>
      <Description>The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED</Description>
      <Range>0 100</Range>
      <Units>m/s</Units>
      <Increment>1</Increment>
      <User>Advanced</User>
    </FLAP_2_SPEED>
    <LAND_FLAP_PERCNT>
      <DisplayName>Landing flap percentage</DisplayName>
      <Description>The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing</Description>
      <Range>0 100</Range>
      <Units>Percent</Units>
      <User>Advanced</User>
    </LAND_FLAP_PERCNT>
    <RSSI_PIN>
      <DisplayName>Receiver RSSI sensing pin</DisplayName>
      <Description>This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum</Description>
      <Values>-1:Disabled, 0:APM2 A0, 1:APM2 A1, 13:APM2 A13, 103:Pixhawk SBUS</Values>
      <User>Standard</User>
    </RSSI_PIN>
    <RSSI_RANGE>
      <DisplayName>Receiver RSSI voltage range</DisplayName>
      <Description>Receiver RSSI voltage range</Description>
      <Units>Volt</Units>
      <Values>3.3:3.3V, 5.0:5V</Values>
      <User>Standard</User>
    </RSSI_RANGE>
    <INVERTEDFLT_CH>
      <DisplayName>Inverted flight channel</DisplayName>
      <Description>A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the correcponding RC input channel and will enable inverted flight when the channel goes above 1750.</Description>
      <Values>0:Disabled,1:Channel1,2:Channel2,3:Channel3,4:Channel4,5:Channel5,6:Channel6,7:Channel7,8:Channel8</Values>
      <User>Standard</User>
    </INVERTEDFLT_CH>
    <HIL_SERVOS>
      <DisplayName>HIL Servos enable</DisplayName>
      <Description>This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </HIL_SERVOS>
    <HIL_ERR_LIMIT>
      <DisplayName>Limit of error in HIL attitude before reset</DisplayName>
      <Description>This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies.</Description>
      <Units>degrees</Units>
      <Range>0 90</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
      <Group>GND_</Group>
      <Path>../libraries/AP_Baro/AP_Baro.cpp</Path>
    </HIL_ERR_LIMIT>
    <RNGFND_LANDING>
      <DisplayName>Enable rangefinder for landing</DisplayName>
      <Description>This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
      <Group>TERRAIN_</Group>
      <Path>../libraries/AP_Terrain/AP_Terrain.cpp</Path>
    </RNGFND_LANDING>
  </ArduPlane>
  <ArduRover>
    <RC1_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MIN>
    <RC1_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_TRIM>
    <RC1_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MAX>
    <RC1_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC1_REV>
    <RC1_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC1_DZ>
    <RC2_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MIN>
    <RC2_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_TRIM>
    <RC2_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MAX>
    <RC2_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC2_REV>
    <RC2_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC2_DZ>
    <RC3_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MIN>
    <RC3_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_TRIM>
    <RC3_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MAX>
    <RC3_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC3_REV>
    <RC3_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC3_DZ>
    <RC4_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MIN>
    <RC4_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_TRIM>
    <RC4_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MAX>
    <RC4_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC4_REV>
    <RC4_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC4_DZ>
    <RC4_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC4_FUNCTION>
    <RC5_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MIN>
    <RC5_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_TRIM>
    <RC5_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MAX>
    <RC5_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC5_REV>
    <RC5_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC5_DZ>
    <RC5_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC5_FUNCTION>
    <RC6_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MIN>
    <RC6_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_TRIM>
    <RC6_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MAX>
    <RC6_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC6_REV>
    <RC6_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC6_DZ>
    <RC6_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC6_FUNCTION>
    <RC7_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MIN>
    <RC7_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_TRIM>
    <RC7_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MAX>
    <RC7_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC7_REV>
    <RC7_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC7_DZ>
    <RC7_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC7_FUNCTION>
    <RC8_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MIN>
    <RC8_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_TRIM>
    <RC8_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MAX>
    <RC8_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC8_REV>
    <RC8_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC8_DZ>
    <RC8_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC8_FUNCTION>
    <RC9_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MIN>
    <RC9_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_TRIM>
    <RC9_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MAX>
    <RC9_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC9_REV>
    <RC9_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC9_DZ>
    <RC9_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC9_FUNCTION>
    <RC10_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MIN>
    <RC10_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_TRIM>
    <RC10_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MAX>
    <RC10_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC10_REV>
    <RC10_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC10_DZ>
    <RC10_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC10_FUNCTION>
    <RC11_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MIN>
    <RC11_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_TRIM>
    <RC11_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MAX>
    <RC11_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC11_REV>
    <RC11_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC11_DZ>
    <RC11_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC11_FUNCTION>
    <RC12_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MIN>
    <RC12_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_TRIM>
    <RC12_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MAX>
    <RC12_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC12_REV>
    <RC12_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC12_DZ>
    <RC12_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC12_FUNCTION>
    <RC13_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MIN>
    <RC13_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_TRIM>
    <RC13_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MAX>
    <RC13_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC13_REV>
    <RC13_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC13_DZ>
    <RC13_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC13_FUNCTION>
    <RC14_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MIN>
    <RC14_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_TRIM>
    <RC14_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MAX>
    <RC14_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC14_REV>
    <RC14_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC14_DZ>
    <RC14_FUNCTION>
      <DisplayName>Servo out function</DisplayName>
      <Description>Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC14_FUNCTION>
    <STEER2SRV_TCONST>
      <DisplayName>Steering Time Constant</DisplayName>
      <Description>This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve.</Description>
      <Range>0.4 1.0</Range>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </STEER2SRV_TCONST>
    <STEER2SRV_P>
      <DisplayName>Steering turning gain</DisplayName>
      <Description>The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </STEER2SRV_P>
    <STEER2SRV_I>
      <DisplayName>Integrator Gain</DisplayName>
      <Description>This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.</Description>
      <Range>0 1.0</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </STEER2SRV_I>
    <STEER2SRV_D>
      <DisplayName>Damping Gain</DisplayName>
      <Description>This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.</Description>
      <Range>0 0.1</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </STEER2SRV_D>
    <STEER2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </STEER2SRV_IMAX>
    <STEER2SRV_MINSPD>
      <DisplayName>Minimum speed</DisplayName>
      <Description>This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still driver slower than this limit, but the steering calculations will be done based on this minimum speed.</Description>
      <Range>0 5</Range>
      <Increment>0.1</Increment>
      <Units>m/s</Units>
      <User>User</User>
    </STEER2SRV_MINSPD>
    <COMPASS_OFS_X>
      <DisplayName>Compass offsets on the X axis</DisplayName>
      <Description>Offset to be added to the compass x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_X>
    <COMPASS_OFS_Y>
      <DisplayName>Compass offsets on the Y axis</DisplayName>
      <Description>Offset to be added to the compass y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Y>
    <COMPASS_OFS_Z>
      <DisplayName>Compass offsets on the Z axis</DisplayName>
      <Description>Offset to be added to the compass z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Z>
    <COMPASS_DEC>
      <DisplayName>Compass declination</DisplayName>
      <Description>An angle to compensate between the true north and magnetic north</Description>
      <Range>-3.142 3.142</Range>
      <Units>Radians</Units>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </COMPASS_DEC>
    <COMPASS_LEARN>
      <DisplayName>Learn compass offsets automatically</DisplayName>
      <Description>Enable or disable the automatic learning of compass offsets</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_LEARN>
    <COMPASS_USE>
      <DisplayName>Use compass for yaw</DisplayName>
      <Description>Enable or disable the use of the compass (instead of the GPS) for determining heading</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE>
    <COMPASS_AUTODEC>
      <DisplayName>Auto Declination</DisplayName>
      <Description>Enable or disable the automatic calculation of the declination based on gps location</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_AUTODEC>
    <COMPASS_MOTCT>
      <DisplayName>Motor interference compensation type</DisplayName>
      <Description>Set motor interference compensation type to disabled, throttle or current.  Do not change manually.</Description>
      <Values>0:Disabled,1:Use Throttle,2:Use Current</Values>
      <Increment>1</Increment>
    </COMPASS_MOTCT>
    <COMPASS_MOT_X>
      <DisplayName>Motor interference compensation for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_X>
    <COMPASS_MOT_Y>
      <DisplayName>Motor interference compensation for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Y>
    <COMPASS_MOT_Z>
      <DisplayName>Motor interference compensation for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Z>
    <COMPASS_ORIENT>
      <DisplayName>Compass orientation</DisplayName>
      <Description>The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
    </COMPASS_ORIENT>
    <COMPASS_EXTERNAL>
      <DisplayName>Compass is attached via an external cable</DisplayName>
      <Description>Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL>
    <COMPASS_PRIMARY>
      <DisplayName>Choose primary compass</DisplayName>
      <Description>If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored</Description>
      <Values>0:FirstCompass,1:SecondCompass</Values>
      <User>Advanced</User>
    </COMPASS_PRIMARY>
    <COMPASS_DEV_ID>
      <DisplayName>Compass device id</DisplayName>
      <Description>Compass device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID>
    <COMPASS_DEV_ID2>
      <DisplayName>Compass2 device id</DisplayName>
      <Description>Second compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID2>
    <COMPASS_DEV_ID3>
      <DisplayName>Compass3 device id</DisplayName>
      <Description>Third compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID3>
    <SCHED_DEBUG>
      <DisplayName>Scheduler debug level</DisplayName>
      <Description>Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.</Description>
      <Values>0:Disabled,2:ShowSlips,3:ShowOverruns</Values>
      <User>Advanced</User>
    </SCHED_DEBUG>
    <GND_ABS_PRESS>
      <DisplayName>Absolute Pressure</DisplayName>
      <Description>calibrated ground pressure in Pascals</Description>
      <Increment>1</Increment>
    </GND_ABS_PRESS>
    <GND_TEMP>
      <DisplayName>ground temperature</DisplayName>
      <Description>calibrated ground temperature in degrees Celsius</Description>
      <Increment>1</Increment>
    </GND_TEMP>
    <GND_ALT_OFFSET>
      <DisplayName>altitude offset</DisplayName>
      <Description>altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.</Description>
      <Units>meters</Units>
      <Range>-128 127</Range>
      <Increment>1</Increment>
    </GND_ALT_OFFSET>
    <RELAY_PIN>
      <DisplayName>First Relay Pin</DisplayName>
      <Description>Digital pin number for first relay control. This is the pin used for camera control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN>
    <RELAY_PIN2>
      <DisplayName>Second Relay Pin</DisplayName>
      <Description>Digital pin number for 2nd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN2>
    <RELAY_PIN3>
      <DisplayName>Third Relay Pin</DisplayName>
      <Description>Digital pin number for 3rd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN3>
    <RELAY_PIN4>
      <DisplayName>Fourth Relay Pin</DisplayName>
      <Description>Digital pin number for 4th relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN4>
    <RCMAP_ROLL>
      <DisplayName>Roll channel</DisplayName>
      <Description>Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_ROLL>
    <RCMAP_PITCH>
      <DisplayName>Pitch channel</DisplayName>
      <Description>Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_PITCH>
    <RCMAP_THROTTLE>
      <DisplayName>Throttle channel</DisplayName>
      <Description>Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_THROTTLE>
    <RCMAP_YAW>
      <DisplayName>Yaw channel</DisplayName>
      <Description>Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_YAW>
    <NAVL1_PERIOD>
      <DisplayName>L1 control period</DisplayName>
      <Description>Period in seconds of L1 tracking loop. This needs to be larger for less responsive airframes. The default of 30 is very conservative, and for most RC aircraft will lead to slow and lazy turns. For smaller more agile aircraft a value closer to 20 is appropriate. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.</Description>
      <Units>seconds</Units>
      <Range>1-60</Range>
      <Increment>1</Increment>
    </NAVL1_PERIOD>
    <NAVL1_DAMPING>
      <DisplayName>L1 control damping ratio</DisplayName>
      <Description>Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.</Description>
      <Range>0.6-1.0</Range>
      <Increment>0.05</Increment>
    </NAVL1_DAMPING>
    <RNGFND_TYPE>
      <DisplayName>Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4</Values>
    </RNGFND_TYPE>
    <RNGFND_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND_PIN>
    <RNGFND_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND_SCALING>
    <RNGFND_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND_OFFSET>
    <RNGFND_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND_FUNCTION>
    <RNGFND_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MIN_CM>
    <RNGFND_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MAX_CM>
    <RNGFND_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND_STOP_PIN>
    <RNGFND_SETTLE_MS>
      <DisplayName>Rangefinder settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND_SETTLE_MS>
    <RNGFND_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND_RMETRIC>
    <RNGFND2_TYPE>
      <DisplayName>Second Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4</Values>
    </RNGFND2_TYPE>
    <RNGFND2_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND2_PIN>
    <RNGFND2_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND2_SCALING>
    <RNGFND2_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND2_OFFSET>
    <RNGFND2_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND2_FUNCTION>
    <RNGFND2_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MIN_CM>
    <RNGFND2_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MAX_CM>
    <RNGFND2_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND2_STOP_PIN>
    <RNGFND2_SETTLE_MS>
      <DisplayName>Sonar settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND2_SETTLE_MS>
    <RNGFND2_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND2_RMETRIC>
    <INS_PRODUCT_ID>
      <DisplayName>IMU Product ID</DisplayName>
      <Description>Which type of IMU is installed (read-only).</Description>
      <User>Advanced</User>
      <Values>0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux</Values>
    </INS_PRODUCT_ID>
    <INS_ACCSCAL_X>
      <DisplayName>Accelerometer scaling of X axis</DisplayName>
      <Description>Accelerometer scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_X>
    <INS_ACCSCAL_Y>
      <DisplayName>Accelerometer scaling of Y axis</DisplayName>
      <Description>Accelerometer scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Y>
    <INS_ACCSCAL_Z>
      <DisplayName>Accelerometer scaling of Z axis</DisplayName>
      <Description>Accelerometer scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Z>
    <INS_ACCOFFS_X>
      <DisplayName>Accelerometer offsets of X axis</DisplayName>
      <Description>Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_X>
    <INS_ACCOFFS_Y>
      <DisplayName>Accelerometer offsets of Y axis</DisplayName>
      <Description>Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Y>
    <INS_ACCOFFS_Z>
      <DisplayName>Accelerometer offsets of Z axis</DisplayName>
      <Description>Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Z>
    <INS_GYROFFS_X>
      <DisplayName>Gyro offsets of X axis</DisplayName>
      <Description>Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_X>
    <INS_GYROFFS_Y>
      <DisplayName>Gyro offsets of Y axis</DisplayName>
      <Description>Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Y>
    <INS_GYROFFS_Z>
      <DisplayName>Gyro offsets of Z axis</DisplayName>
      <Description>Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Z>
    <INS_MPU6K_FILTER>
      <DisplayName>MPU6000 filter frequency</DisplayName>
      <Description>Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation</Description>
      <Units>Hz</Units>
      <Values>0:Default,5:5Hz,10:10Hz,20:20Hz,42:42Hz,98:98Hz</Values>
      <User>Advanced</User>
    </INS_MPU6K_FILTER>
    <AHRS_GPS_GAIN>
      <DisplayName>AHRS GPS gain</DisplayName>
      <Description>This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.</Description>
      <Range>0.0 1.0</Range>
      <Increment>.01</Increment>
    </AHRS_GPS_GAIN>
    <AHRS_GPS_USE>
      <DisplayName>AHRS use GPS for navigation</DisplayName>
      <Description>This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_GPS_USE>
    <AHRS_YAW_P>
      <DisplayName>Yaw P</DisplayName>
      <Description>This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_YAW_P>
    <AHRS_RP_P>
      <DisplayName>AHRS RP_P</DisplayName>
      <Description>This controls how fast the accelerometers correct the attitude</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_RP_P>
    <AHRS_WIND_MAX>
      <DisplayName>Maximum wind</DisplayName>
      <Description>This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.</Description>
      <Range>0 127</Range>
      <Units>m/s</Units>
      <Increment>1</Increment>
    </AHRS_WIND_MAX>
    <AHRS_TRIM_X>
      <DisplayName>AHRS Trim Roll</DisplayName>
      <Description>Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_X>
    <AHRS_TRIM_Y>
      <DisplayName>AHRS Trim Pitch</DisplayName>
      <Description>Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_Y>
    <AHRS_TRIM_Z>
      <DisplayName>AHRS Trim Yaw</DisplayName>
      <Description>Not Used</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </AHRS_TRIM_Z>
    <AHRS_ORIENTATION>
      <DisplayName>Board Orientation</DisplayName>
      <Description>Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
      <User>Advanced</User>
    </AHRS_ORIENTATION>
    <AHRS_COMP_BETA>
      <DisplayName>AHRS Velocity Complmentary Filter Beta Coefficient</DisplayName>
      <Description>This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.</Description>
      <Range>0.001 0.5</Range>
      <Increment>.01</Increment>
      <User>Advanced</User>
    </AHRS_COMP_BETA>
    <AHRS_GPS_MINSATS>
      <DisplayName>AHRS GPS Minimum satellites</DisplayName>
      <Description>Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.</Description>
      <Range>0 10</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </AHRS_GPS_MINSATS>
    <AHRS_EKF_USE>
      <DisplayName>Use NavEKF Kalman filter for attitude and position estimation</DisplayName>
      <Description>This controls whether the NavEKF Kalman filter is used for attitude and position estimation</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_EKF_USE>
    <CAM_TRIGG_TYPE>
      <DisplayName>Camera shutter (trigger) type</DisplayName>
      <Description>how to trigger the camera to take a picture</Description>
      <Values>0:Servo,1:Relay</Values>
      <User>Standard</User>
    </CAM_TRIGG_TYPE>
    <CAM_DURATION>
      <DisplayName>Duration that shutter is held open</DisplayName>
      <Description>How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)</Description>
      <Range>0 50</Range>
      <User>Standard</User>
    </CAM_DURATION>
    <CAM_SERVO_ON>
      <DisplayName>Servo ON PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is activated</Description>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_ON>
    <CAM_SERVO_OFF>
      <DisplayName>Servo OFF PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is deactivated</Description>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_OFF>
    <CAM_TRIGG_DIST>
      <DisplayName>Camera trigger distance</DisplayName>
      <Description>Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.</Description>
      <User>Standard</User>
      <Range>0 1000</Range>
    </CAM_TRIGG_DIST>
    <MNT_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT_MODE>
    <MNT_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_X>
    <MNT_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Y>
    <MNT_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Z>
    <MNT_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_X>
    <MNT_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Y>
    <MNT_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Z>
    <MNT_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_X>
    <MNT_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Y>
    <MNT_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Z>
    <MNT_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_ROLL>
    <MNT_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_TILT>
    <MNT_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_PAN>
    <MNT_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_ROLL>
    <MNT_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_ROL>
    <MNT_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_ROL>
    <MNT_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_TILT>
    <MNT_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_TIL>
    <MNT_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_TIL>
    <MNT_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_PAN>
    <MNT_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_PAN>
    <MNT_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_PAN>
    <MNT_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_JSTICK_SPD>
    <BATT_MONITOR>
      <DisplayName>Battery monitoring</DisplayName>
      <Description>Controls enabling monitoring of the battery's voltage and current</Description>
      <Values>0:Disabled,3:Voltage Only,4:Voltage and Current</Values>
      <User>Standard</User>
    </BATT_MONITOR>
    <BATT_VOLT_PIN>
      <DisplayName>Battery Voltage sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.</Description>
      <Values>-1:Disabled, 0:A0, 1:A1, 2:Pixhawk, 13:A13, 100:PX4</Values>
      <User>Standard</User>
    </BATT_VOLT_PIN>
    <BATT_CURR_PIN>
      <DisplayName>Battery Current sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.</Description>
      <Values>-1:Disabled, 1:A1, 2:A2, 3:Pixhawk, 12:A12, 101:PX4</Values>
      <User>Standard</User>
    </BATT_CURR_PIN>
    <BATT_VOLT_MULT>
      <DisplayName>Voltage Multiplier</DisplayName>
      <Description>Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.</Description>
      <User>Advanced</User>
    </BATT_VOLT_MULT>
    <BATT_AMP_PERVOLT>
      <DisplayName>Amps per volt</DisplayName>
      <Description>Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.</Description>
      <Units>A/V</Units>
      <User>Standard</User>
    </BATT_AMP_PERVOLT>
    <BATT_AMP_OFFSET>
      <DisplayName>AMP offset</DisplayName>
      <Description>Voltage offset at zero current on current sensor</Description>
      <Units>Volts</Units>
      <User>Standard</User>
    </BATT_AMP_OFFSET>
    <BATT_CAPACITY>
      <DisplayName>Battery capacity</DisplayName>
      <Description>Capacity of the battery in mAh when full</Description>
      <Units>mAh</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </BATT_CAPACITY>
    <BATT_VOLT2_PIN>
      <DisplayName>2nd Battery Voltage sensing pin</DisplayName>
      <Description>This sets the pin for sensing the voltage on a 2nd battery. Set to -1 to disable sensing of a second battery</Description>
      <User>Standard</User>
    </BATT_VOLT2_PIN>
    <BATT_VOLT2_MULT>
      <DisplayName>2nd battery voltage multiplier</DisplayName>
      <Description>Used to convert the voltage of the VOLT2_PIN to the actual battery's voltage (pin_voltage * VOLT_MULT).</Description>
      <User>Advanced</User>
    </BATT_VOLT2_MULT>
    <BRD_PWM_COUNT>
      <DisplayName>PWM Count</DisplayName>
      <Description>Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.</Description>
      <Values>0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs</Values>
    </BRD_PWM_COUNT>
    <BRD_SER1_RTSCTS>
      <DisplayName>Serial 1 flow control</DisplayName>
      <Description>Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER1_RTSCTS>
    <BRD_SER2_RTSCTS>
      <DisplayName>Serial 2 flow control</DisplayName>
      <Description>Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER2_RTSCTS>
    <BRD_SAFETYENABLE>
      <DisplayName>Enable use of safety arming switch</DisplayName>
      <Description>Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.</Description>
      <Values>0:Disabled,1:Enabled</Values>
    </BRD_SAFETYENABLE>
    <GPS_TYPE>
      <DisplayName>GPS type</DisplayName>
      <Description>GPS type</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav</Values>
    </GPS_TYPE>
    <GPS_TYPE2>
      <DisplayName>2nd GPS type</DisplayName>
      <Description>GPS type of 2nd GPS</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav</Values>
    </GPS_TYPE2>
    <GPS_NAVFILTER>
      <DisplayName>Navigation filter setting</DisplayName>
      <Description>Navigation filter engine setting</Description>
      <Values>0:Portable,2:Stationary,3:Pedestrian,4:Automotive,5:Sea,6:Airborne1G,7:Airborne2G,8:Airborne4G</Values>
    </GPS_NAVFILTER>
    <GPS_AUTO_SWITCH>
      <DisplayName>Automatic Switchover Setting</DisplayName>
      <Description>Automatic switchover to GPS reporting best lock</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </GPS_AUTO_SWITCH>
    <GPS_DGPS_MIN_LOCK>
      <DisplayName>Minimum Lock Type Accepted for DGPS</DisplayName>
      <Description>Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.</Description>
      <Values>0:Any,50:FloatRTK,100:IntegerRTK</Values>
      <User>Advanced</User>
    </GPS_DGPS_MIN_LOCK>
    <EKF_VELNE_NOISE>
      <DisplayName>GPS horizontal velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the North and East GPS velocity measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.05 - 5.0</Range>
      <Increment>0.05</Increment>
      <User>advanced</User>
    </EKF_VELNE_NOISE>
    <EKF_VELD_NOISE>
      <DisplayName>GPS vertical velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the vertical GPS velocity measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.05 - 5.0</Range>
      <Increment>0.05</Increment>
      <User>advanced</User>
    </EKF_VELD_NOISE>
    <EKF_POSNE_NOISE>
      <DisplayName>GPS horizontal position measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.1 - 10.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_POSNE_NOISE>
    <EKF_ALT_NOISE>
      <DisplayName>Altitude measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.1 - 10.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_ALT_NOISE>
    <EKF_MAG_NOISE>
      <DisplayName>Magnetometer measurement noise (Gauss)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.01 - 0.5</Range>
      <Increment>0.01</Increment>
      <User>advanced</User>
    </EKF_MAG_NOISE>
    <EKF_EAS_NOISE>
      <DisplayName>Equivalent airspeed measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.5 - 5.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_EAS_NOISE>
    <EKF_WIND_PNOISE>
      <DisplayName>Wind velocity process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.</Description>
      <Range>0.01 - 1.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_WIND_PNOISE>
    <EKF_WIND_PSCALE>
      <DisplayName>Height rate to wind procss noise scaler</DisplayName>
      <Description>Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser.</Description>
      <Range>0.0 - 1.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_WIND_PSCALE>
    <EKF_GYRO_PNOISE>
      <DisplayName>Rate gyro noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.</Description>
      <Range>0.001 - 0.05</Range>
      <Increment>0.001</Increment>
      <User>advanced</User>
    </EKF_GYRO_PNOISE>
    <EKF_ACC_PNOISE>
      <DisplayName>Accelerometer noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.</Description>
      <Range>0.05 - 1.0    AP_Float _gpsNEVelVarAccScale;  // scale factor applied to NE velocity measurement variance due to Vdot</Range>
      <Increment>0.01</Increment>
      <User>advanced</User>
    </EKF_ACC_PNOISE>
    <EKF_GBIAS_PNOISE>
      <DisplayName>Rate gyro bias process noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.</Description>
      <Range>0.0000001 - 0.00001</Range>
      <User>advanced</User>
    </EKF_GBIAS_PNOISE>
    <EKF_ABIAS_PNOISE>
      <DisplayName>Accelerometer bias process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.</Description>
      <Range>0.00001 - 0.001</Range>
      <User>advanced</User>
    </EKF_ABIAS_PNOISE>
    <EKF_MAGE_PNOISE>
      <DisplayName>Earth magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier.</Description>
      <Range>0.0001 - 0.01</Range>
      <User>advanced</User>
    </EKF_MAGE_PNOISE>
    <EKF_MAGB_PNOISE>
      <DisplayName>Body magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier.</Description>
      <Range>0.0001 - 0.01</Range>
      <User>advanced</User>
    </EKF_MAGB_PNOISE>
    <EKF_VEL_DELAY>
      <DisplayName>GPS velocity measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS velocity measurements lag behind the inertial measurements.</Description>
      <Range>0 - 500</Range>
      <Increment>10</Increment>
      <User>advanced</User>
    </EKF_VEL_DELAY>
    <EKF_POS_DELAY>
      <DisplayName>GPS position measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS position measurements lag behind the inertial measurements.</Description>
      <Range>0 - 500</Range>
      <Increment>10</Increment>
      <User>advancedScale factor applied to horizontal position measurement variance due to manoeuvre acceleration</User>
    </EKF_POS_DELAY>
    <EKF_GPS_TYPE>
      <DisplayName>GPS velocity mode control</DisplayName>
      <Description>This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity</Description>
      <Range>0 - 3</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_GPS_TYPE>
    <EKF_VEL_GATE>
      <DisplayName>GPS velocity measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_VEL_GATE>
    <EKF_POS_GATE>
      <DisplayName>GPS position measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_POS_GATE>
    <EKF_HGT_GATE>
      <DisplayName>Height measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_HGT_GATE>
    <EKF_MAG_GATE>
      <DisplayName>Magnetometer measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_MAG_GATE>
    <EKF_EAS_GATE>
      <DisplayName>Airspeed measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_EAS_GATE>
    <EKF_MAG_CAL>
      <DisplayName>Magnetometer calibration mode</DisplayName>
      <Description>EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.</Description>
      <Values>0:Speed and Height,1:Acceleration,2:Never</Values>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_MAG_CAL>
    <EKF_GLITCH_ACCEL>
      <DisplayName>GPS glitch accel gate size (cm/s^2)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position.</Description>
      <Range>100 - 500</Range>
      <Increment>50</Increment>
      <User>advanced</User>
    </EKF_GLITCH_ACCEL>
    <EKF_GLITCH_RAD>
      <DisplayName>GPS glitch radius gate size (m)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement.</Description>
      <Range>10 - 50</Range>
      <Increment>5</Increment>
      <User>advanced</User>
    </EKF_GLITCH_RAD>
    <MIS_TOTAL>
      <DisplayName>Total mission commands</DisplayName>
      <Description>The number of mission mission items that has been loaded by the ground station. Do not change this manually.</Description>
      <Range>0 32766</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </MIS_TOTAL>
    <MIS_RESTART>
      <DisplayName>Mission Restart when entering Auto mode</DisplayName>
      <Description>Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)</Description>
      <Values>0:Resume Mission, 1:Restart Mission</Values>
    </MIS_RESTART>
    <LOG_BITMASK>
      <DisplayName>Log bitmask</DisplayName>
      <Description>Two byte bitmap of log types to enable in dataflash</Description>
      <Values>0:Disabled,3950:Default,4078:Default+IMU</Values>
      <User>Advanced</User>
    </LOG_BITMASK>
    <RST_SWITCH_CH>
      <DisplayName>Reset Switch Channel</DisplayName>
      <Description>RC channel to use to reset to last flight mode	after geofence takeover.</Description>
      <User>Advanced</User>
    </RST_SWITCH_CH>
    <INITIAL_MODE>
      <DisplayName>Initial driving mode</DisplayName>
      <Description>This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usuallly used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.</Description>
      <Values>0:MANUAL,2:LEARNING,3:STEERING,4:HOLD,10:AUTO,11:RTL,15:GUIDED</Values>
      <User>Advanced</User>
    </INITIAL_MODE>
    <RSSI_PIN>
      <DisplayName>Receiver RSSI sensing pin</DisplayName>
      <Description>This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum</Description>
      <Values>-1:Disabled, 0:APM2 A0, 1:APM2 A1, 2:APM2 A2, 13:APM2 A13, 103:Pixhawk SBUS</Values>
      <User>Standard</User>
    </RSSI_PIN>
    <SYSID_THIS_MAV>
      <DisplayName>MAVLink system ID</DisplayName>
      <Description>ID used in MAVLink protocol to identify this vehicle</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_THIS_MAV>
    <SYSID_MYGCS>
      <DisplayName>MAVLink ground station ID</DisplayName>
      <Description>ID used in MAVLink protocol to identify the controlling ground station</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_MYGCS>
    <SERIAL0_BAUD>
      <DisplayName>USB Console Baud Rate</DisplayName>
      <Description>The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL0_BAUD>
    <SERIAL1_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the first telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL1_BAUD>
    <SERIAL2_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the second telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL2_BAUD>
    <SERIAL2_PROTOCOL>
      <DisplayName>SERIAL2 protocol selection</DisplayName>
      <Description>Control what protocol telemetry 2 port should be used for</Description>
      <Values>1:GCS Mavlink,2:Frsky D-PORT</Values>
      <User>Standard</User>
    </SERIAL2_PROTOCOL>
    <TELEM_DELAY>
      <DisplayName>Telemetry startup delay</DisplayName>
      <Description>The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up</Description>
      <User>Standard</User>
      <Units>seconds</Units>
      <Range>0 10</Range>
      <Increment>1</Increment>
    </TELEM_DELAY>
    <SKIP_GYRO_CAL>
      <DisplayName>Skip gyro calibration</DisplayName>
      <Description>When enabled this tells the APM to skip the normal gyroscope calibration at startup, and instead use the saved gyro calibration from the last flight. You should only enable this if you are careful to check that your aircraft has good attitude control before flying, as some boards may have significantly different gyro calibration between boots, especially if the temperature changes a lot. If gyro calibration is skipped then APM relies on using the gyro drift detection code to get the right gyro calibration in the few minutes after it boots. This option is mostly useful where the requirement to hold the vehicle still while it is booting is a significant problem.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </SKIP_GYRO_CAL>
    <MAG_ENABLED>
      <DisplayName>Magnetometer (compass) enabled</DisplayName>
      <Description>This should be set to 1 if a compass is installed</Description>
      <User>Standard</User>
      <Values>0:Disabled,1:Enabled</Values>
    </MAG_ENABLED>
    <AUTO_TRIGGER_PIN>
      <DisplayName>Auto mode trigger pin</DisplayName>
      <Description>pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver.</Description>
      <Values>-1:Disabled,0-8:TiggerPin</Values>
      <User>standard</User>
    </AUTO_TRIGGER_PIN>
    <AUTO_KICKSTART>
      <DisplayName>Auto mode trigger kickstart acceleration</DisplayName>
      <Description>X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor</Description>
      <Units>m/s/s</Units>
      <Range>0 20</Range>
      <Increment>0.1</Increment>
      <User>standard</User>
    </AUTO_KICKSTART>
    <CRUISE_SPEED>
      <DisplayName>Target cruise speed in auto modes</DisplayName>
      <Description>The target speed in auto missions.</Description>
      <Units>m/s</Units>
      <Range>0 100</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </CRUISE_SPEED>
    <SPEED_TURN_GAIN>
      <DisplayName>Target speed reduction while turning</DisplayName>
      <Description>The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected.</Description>
      <Units>percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </SPEED_TURN_GAIN>
    <SPEED_TURN_DIST>
      <DisplayName>Distance to turn to start reducing speed</DisplayName>
      <Description>The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN</Description>
      <Units>meters</Units>
      <Range>0 100</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </SPEED_TURN_DIST>
    <BRAKING_PERCENT>
      <DisplayName>Percentage braking to apply</DisplayName>
      <Description>The maximum reverse throttle braking percentage to apply when cornering</Description>
      <Units>percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </BRAKING_PERCENT>
    <BRAKING_SPEEDERR>
      <DisplayName>Speed error at which to apply braking</DisplayName>
      <Description>The amount of overspeed error at which to start applying braking</Description>
      <Units>m/s</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </BRAKING_SPEEDERR>
    <PIVOT_TURN_ANGLE>
      <DisplayName>Pivot turn angle</DisplayName>
      <Description>Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns.</Description>
      <Units>degrees</Units>
      <Range>0 360</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </PIVOT_TURN_ANGLE>
    <CH7_OPTION>
      <DisplayName>Channel 7 option</DisplayName>
      <Description>What to do use channel 7 for</Description>
      <Values>0:Nothing,1:LearnWaypoint</Values>
      <User>Standard</User>
      <Group>RC1_</Group>
      <Path>../libraries/RC_Channel/RC_Channel.cpp</Path>
    </CH7_OPTION>
    <THR_MIN>
      <DisplayName>Minimum Throttle</DisplayName>
      <Description>The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MIN>
    <THR_MAX>
      <DisplayName>Maximum Throttle</DisplayName>
      <Description>The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MAX>
    <CRUISE_THROTTLE>
      <DisplayName>Base throttle percentage in auto</DisplayName>
      <Description>The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </CRUISE_THROTTLE>
    <THR_SLEWRATE>
      <DisplayName>Throttle slew rate</DisplayName>
      <Description>maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_SLEWRATE>
    <SKID_STEER_OUT>
      <DisplayName>Skid steering output</DisplayName>
      <Description>Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control</Description>
      <Values>0:Disabled, 1:SkidSteeringOutput</Values>
      <User>Standard</User>
    </SKID_STEER_OUT>
    <SKID_STEER_IN>
      <DisplayName>Skid steering input</DisplayName>
      <Description>Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control</Description>
      <Values>0:Disabled, 1:SkidSteeringInput</Values>
      <User>Standard</User>
    </SKID_STEER_IN>
    <FS_ACTION>
      <DisplayName>Failsafe Action</DisplayName>
      <Description>What to do on a failsafe event</Description>
      <Values>0:Nothing,1:RTL,2:HOLD</Values>
      <User>Standard</User>
    </FS_ACTION>
    <FS_TIMEOUT>
      <DisplayName>Failsafe timeout</DisplayName>
      <Description>How long a failsafe event need to happen for before we trigger the failsafe action</Description>
      <Units>seconds</Units>
      <User>Standard</User>
    </FS_TIMEOUT>
    <FS_THR_ENABLE>
      <DisplayName>Throttle Failsafe Enable</DisplayName>
      <Description>The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </FS_THR_ENABLE>
    <FS_THR_VALUE>
      <DisplayName>Throttle Failsafe Value</DisplayName>
      <Description>The PWM level on channel 3 below which throttle sailsafe triggers.</Description>
      <Range>925 1100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FS_THR_VALUE>
    <FS_GCS_ENABLE>
      <DisplayName>GCS failsafe enable</DisplayName>
      <Description>Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </FS_GCS_ENABLE>
    <RNGFND_TRIGGR_CM>
      <DisplayName>Rangefinder trigger distance</DisplayName>
      <Description>The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle</Description>
      <Units>centimeters</Units>
      <Range>0 1000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RNGFND_TRIGGR_CM>
    <RNGFND_TURN_ANGL>
      <DisplayName>Rangefinder trigger angle</DisplayName>
      <Description>The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left.</Description>
      <Units>centimeters</Units>
      <Range>-45 45</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RNGFND_TURN_ANGL>
    <RNGFND_TURN_TIME>
      <DisplayName>Rangefinder turn time</DisplayName>
      <Description>The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle.</Description>
      <Units>seconds</Units>
      <Range>0 100</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </RNGFND_TURN_TIME>
    <RNGFND_DEBOUNCE>
      <DisplayName>Rangefinder debounce count</DisplayName>
      <Description>The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RNGFND_DEBOUNCE>
    <LEARN_CH>
      <DisplayName>Learning channel</DisplayName>
      <Description>RC Channel to use for learning waypoints</Description>
      <User>Advanced</User>
    </LEARN_CH>
    <MODE_CH>
      <DisplayName>Mode channel</DisplayName>
      <Description>RC Channel to use for driving mode control</Description>
      <User>Advanced</User>
    </MODE_CH>
    <MODE1>
      <DisplayName>Mode1</DisplayName>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
      <Description>Driving mode for switch position 1 (910 to 1230 and above 2049)</Description>
    </MODE1>
    <MODE2>
      <DisplayName>Mode2</DisplayName>
      <Description>Driving mode for switch position 2 (1231 to 1360)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE2>
    <MODE3>
      <DisplayName>Mode3</DisplayName>
      <Description>Driving mode for switch position 3 (1361 to 1490)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE3>
    <MODE4>
      <DisplayName>Mode4</DisplayName>
      <Description>Driving mode for switch position 4 (1491 to 1620)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE4>
    <MODE5>
      <DisplayName>Mode5</DisplayName>
      <Description>Driving mode for switch position 5 (1621 to 1749)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE5>
    <MODE6>
      <DisplayName>Mode6</DisplayName>
      <Description>Driving mode for switch position 6 (1750 to 2049)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE6>
    <WP_RADIUS>
      <DisplayName>Waypoint radius</DisplayName>
      <Description>The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path.</Description>
      <Units>meters</Units>
      <Range>0 1000</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </WP_RADIUS>
    <TURN_MAX_G>
      <DisplayName>Turning maximum G force</DisplayName>
      <Description>The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns</Description>
      <Units>gravities</Units>
      <Range>0.2 10</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
      <Group>STEER2SRV_</Group>
      <Path>../libraries/APM_Control/AP_SteerController.cpp</Path>
    </TURN_MAX_G>
  </ArduRover>
  <ArduTracker>
    <GND_ABS_PRESS>
      <DisplayName>Absolute Pressure</DisplayName>
      <Description>calibrated ground pressure in Pascals</Description>
      <Units>pascals</Units>
      <Increment>1</Increment>
    </GND_ABS_PRESS>
    <GND_TEMP>
      <DisplayName>ground temperature</DisplayName>
      <Description>calibrated ground temperature in degrees Celsius</Description>
      <Units>degrees celsius</Units>
      <Increment>1</Increment>
    </GND_TEMP>
    <GND_ALT_OFFSET>
      <DisplayName>altitude offset</DisplayName>
      <Description>altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.</Description>
      <Units>meters</Units>
      <Range>-128 127</Range>
      <Increment>1</Increment>
    </GND_ALT_OFFSET>
    <COMPASS_OFS_X>
      <DisplayName>Compass offsets on the X axis</DisplayName>
      <Description>Offset to be added to the compass x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_X>
    <COMPASS_OFS_Y>
      <DisplayName>Compass offsets on the Y axis</DisplayName>
      <Description>Offset to be added to the compass y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Y>
    <COMPASS_OFS_Z>
      <DisplayName>Compass offsets on the Z axis</DisplayName>
      <Description>Offset to be added to the compass z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Z>
    <COMPASS_DEC>
      <DisplayName>Compass declination</DisplayName>
      <Description>An angle to compensate between the true north and magnetic north</Description>
      <Range>-3.142 3.142</Range>
      <Units>Radians</Units>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </COMPASS_DEC>
    <COMPASS_LEARN>
      <DisplayName>Learn compass offsets automatically</DisplayName>
      <Description>Enable or disable the automatic learning of compass offsets</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_LEARN>
    <COMPASS_USE>
      <DisplayName>Use compass for yaw</DisplayName>
      <Description>Enable or disable the use of the compass (instead of the GPS) for determining heading</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE>
    <COMPASS_AUTODEC>
      <DisplayName>Auto Declination</DisplayName>
      <Description>Enable or disable the automatic calculation of the declination based on gps location</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_AUTODEC>
    <COMPASS_MOTCT>
      <DisplayName>Motor interference compensation type</DisplayName>
      <Description>Set motor interference compensation type to disabled, throttle or current.  Do not change manually.</Description>
      <Values>0:Disabled,1:Use Throttle,2:Use Current</Values>
      <Increment>1</Increment>
    </COMPASS_MOTCT>
    <COMPASS_MOT_X>
      <DisplayName>Motor interference compensation for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_X>
    <COMPASS_MOT_Y>
      <DisplayName>Motor interference compensation for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Y>
    <COMPASS_MOT_Z>
      <DisplayName>Motor interference compensation for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Z>
    <COMPASS_ORIENT>
      <DisplayName>Compass orientation</DisplayName>
      <Description>The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
    </COMPASS_ORIENT>
    <COMPASS_EXTERNAL>
      <DisplayName>Compass is attached via an external cable</DisplayName>
      <Description>Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL>
    <COMPASS_OFS2_X>
      <DisplayName>Compass2 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass2's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_X>
    <COMPASS_OFS2_Y>
      <DisplayName>Compass2 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass2's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Y>
    <COMPASS_OFS2_Z>
      <DisplayName>Compass2 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass2's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Z>
    <COMPASS_MOT2_X>
      <DisplayName>Motor interference compensation to compass2 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_X>
    <COMPASS_MOT2_Y>
      <DisplayName>Motor interference compensation to compass2 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Y>
    <COMPASS_MOT2_Z>
      <DisplayName>Motor interference compensation to compass2 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Z>
    <COMPASS_PRIMARY>
      <DisplayName>Choose primary compass</DisplayName>
      <Description>If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored</Description>
      <Values>0:FirstCompass,1:SecondCompass</Values>
      <User>Advanced</User>
    </COMPASS_PRIMARY>
    <COMPASS_OFS3_X>
      <DisplayName>Compass3 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass3's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_X>
    <COMPASS_OFS3_Y>
      <DisplayName>Compass3 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass3's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Y>
    <COMPASS_OFS3_Z>
      <DisplayName>Compass3 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass3's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Z>
    <COMPASS_MOT3_X>
      <DisplayName>Motor interference compensation to compass3 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_X>
    <COMPASS_MOT3_Y>
      <DisplayName>Motor interference compensation to compass3 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Y>
    <COMPASS_MOT3_Z>
      <DisplayName>Motor interference compensation to compass3 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Z>
    <COMPASS_DEV_ID>
      <DisplayName>Compass device id</DisplayName>
      <Description>Compass device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID>
    <COMPASS_DEV_ID2>
      <DisplayName>Compass2 device id</DisplayName>
      <Description>Second compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID2>
    <COMPASS_DEV_ID3>
      <DisplayName>Compass3 device id</DisplayName>
      <Description>Third compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID3>
    <COMPASS_USE2>
      <DisplayName>Compass2 used for yaw</DisplayName>
      <Description>Enable or disable the second compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE2>
    <COMPASS_ORIENT2>
      <DisplayName>Compass2 orientation</DisplayName>
      <Description>The orientation of the second compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
    </COMPASS_ORIENT2>
    <COMPASS_EXTERNAL2>
      <DisplayName>Compass2 is attached via an external cable</DisplayName>
      <Description>Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL2>
    <COMPASS_USE3>
      <DisplayName>Compass3 used for yaw</DisplayName>
      <Description>Enable or disable the third compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE3>
    <COMPASS_ORIENT3>
      <DisplayName>Compass3 orientation</DisplayName>
      <Description>The orientation of the third compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
    </COMPASS_ORIENT3>
    <COMPASS_EXTERNAL3>
      <DisplayName>Compass3 is attached via an external cable</DisplayName>
      <Description>Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL3>
    <SCHED_DEBUG>
      <DisplayName>Scheduler debug level</DisplayName>
      <Description>Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.</Description>
      <Values>0:Disabled,2:ShowSlips,3:ShowOverruns</Values>
      <User>Advanced</User>
    </SCHED_DEBUG>
    <INS_PRODUCT_ID>
      <DisplayName>IMU Product ID</DisplayName>
      <Description>Which type of IMU is installed (read-only).</Description>
      <User>Advanced</User>
      <Values>0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux</Values>
    </INS_PRODUCT_ID>
    <INS_ACCSCAL_X>
      <DisplayName>Accelerometer scaling of X axis</DisplayName>
      <Description>Accelerometer scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_X>
    <INS_ACCSCAL_Y>
      <DisplayName>Accelerometer scaling of Y axis</DisplayName>
      <Description>Accelerometer scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Y>
    <INS_ACCSCAL_Z>
      <DisplayName>Accelerometer scaling of Z axis</DisplayName>
      <Description>Accelerometer scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Z>
    <INS_ACCOFFS_X>
      <DisplayName>Accelerometer offsets of X axis</DisplayName>
      <Description>Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_X>
    <INS_ACCOFFS_Y>
      <DisplayName>Accelerometer offsets of Y axis</DisplayName>
      <Description>Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Y>
    <INS_ACCOFFS_Z>
      <DisplayName>Accelerometer offsets of Z axis</DisplayName>
      <Description>Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Z>
    <INS_GYROFFS_X>
      <DisplayName>Gyro offsets of X axis</DisplayName>
      <Description>Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_X>
    <INS_GYROFFS_Y>
      <DisplayName>Gyro offsets of Y axis</DisplayName>
      <Description>Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Y>
    <INS_GYROFFS_Z>
      <DisplayName>Gyro offsets of Z axis</DisplayName>
      <Description>Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Z>
    <INS_MPU6K_FILTER>
      <DisplayName>MPU6000 filter frequency</DisplayName>
      <Description>Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation</Description>
      <Units>Hz</Units>
      <Values>0:Default,5:5Hz,10:10Hz,20:20Hz,42:42Hz,98:98Hz</Values>
      <User>Advanced</User>
    </INS_MPU6K_FILTER>
    <INS_ACC2SCAL_X>
      <DisplayName>Accelerometer2 scaling of X axis</DisplayName>
      <Description>Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_X>
    <INS_ACC2SCAL_Y>
      <DisplayName>Accelerometer2 scaling of Y axis</DisplayName>
      <Description>Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Y>
    <INS_ACC2SCAL_Z>
      <DisplayName>Accelerometer2 scaling of Z axis</DisplayName>
      <Description>Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Z>
    <INS_ACC2OFFS_X>
      <DisplayName>Accelerometer2 offsets of X axis</DisplayName>
      <Description>Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_X>
    <INS_ACC2OFFS_Y>
      <DisplayName>Accelerometer2 offsets of Y axis</DisplayName>
      <Description>Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Y>
    <INS_ACC2OFFS_Z>
      <DisplayName>Accelerometer2 offsets of Z axis</DisplayName>
      <Description>Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Z>
    <INS_GYR2OFFS_X>
      <DisplayName>Gyro2 offsets of X axis</DisplayName>
      <Description>Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_X>
    <INS_GYR2OFFS_Y>
      <DisplayName>Gyro2 offsets of Y axis</DisplayName>
      <Description>Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Y>
    <INS_GYR2OFFS_Z>
      <DisplayName>Gyro2 offsets of Z axis</DisplayName>
      <Description>Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Z>
    <INS_ACC3SCAL_X>
      <DisplayName>Accelerometer3 scaling of X axis</DisplayName>
      <Description>Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_X>
    <INS_ACC3SCAL_Y>
      <DisplayName>Accelerometer3 scaling of Y axis</DisplayName>
      <Description>Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Y>
    <INS_ACC3SCAL_Z>
      <DisplayName>Accelerometer3 scaling of Z axis</DisplayName>
      <Description>Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Z>
    <INS_ACC3OFFS_X>
      <DisplayName>Accelerometer3 offsets of X axis</DisplayName>
      <Description>Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_X>
    <INS_ACC3OFFS_Y>
      <DisplayName>Accelerometer3 offsets of Y axis</DisplayName>
      <Description>Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Y>
    <INS_ACC3OFFS_Z>
      <DisplayName>Accelerometer3 offsets of Z axis</DisplayName>
      <Description>Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Z>
    <INS_GYR3OFFS_X>
      <DisplayName>Gyro3 offsets of X axis</DisplayName>
      <Description>Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_X>
    <INS_GYR3OFFS_Y>
      <DisplayName>Gyro3 offsets of Y axis</DisplayName>
      <Description>Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Y>
    <INS_GYR3OFFS_Z>
      <DisplayName>Gyro3 offsets of Z axis</DisplayName>
      <Description>Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Z>
    <AHRS_GPS_GAIN>
      <DisplayName>AHRS GPS gain</DisplayName>
      <Description>This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.</Description>
      <Range>0.0 1.0</Range>
      <Increment>.01</Increment>
    </AHRS_GPS_GAIN>
    <AHRS_GPS_USE>
      <DisplayName>AHRS use GPS for navigation</DisplayName>
      <Description>This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_GPS_USE>
    <AHRS_YAW_P>
      <DisplayName>Yaw P</DisplayName>
      <Description>This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_YAW_P>
    <AHRS_RP_P>
      <DisplayName>AHRS RP_P</DisplayName>
      <Description>This controls how fast the accelerometers correct the attitude</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_RP_P>
    <AHRS_WIND_MAX>
      <DisplayName>Maximum wind</DisplayName>
      <Description>This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.</Description>
      <Range>0 127</Range>
      <Units>m/s</Units>
      <Increment>1</Increment>
    </AHRS_WIND_MAX>
    <AHRS_TRIM_X>
      <DisplayName>AHRS Trim Roll</DisplayName>
      <Description>Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_X>
    <AHRS_TRIM_Y>
      <DisplayName>AHRS Trim Pitch</DisplayName>
      <Description>Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_Y>
    <AHRS_TRIM_Z>
      <DisplayName>AHRS Trim Yaw</DisplayName>
      <Description>Not Used</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </AHRS_TRIM_Z>
    <AHRS_ORIENTATION>
      <DisplayName>Board Orientation</DisplayName>
      <Description>Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
      <User>Advanced</User>
    </AHRS_ORIENTATION>
    <AHRS_COMP_BETA>
      <DisplayName>AHRS Velocity Complmentary Filter Beta Coefficient</DisplayName>
      <Description>This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.</Description>
      <Range>0.001 0.5</Range>
      <Increment>.01</Increment>
      <User>Advanced</User>
    </AHRS_COMP_BETA>
    <AHRS_GPS_MINSATS>
      <DisplayName>AHRS GPS Minimum satellites</DisplayName>
      <Description>Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.</Description>
      <Range>0 10</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </AHRS_GPS_MINSATS>
    <AHRS_EKF_USE>
      <DisplayName>Use NavEKF Kalman filter for attitude and position estimation</DisplayName>
      <Description>This controls whether the NavEKF Kalman filter is used for attitude and position estimation</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_EKF_USE>
    <BRD_PWM_COUNT>
      <DisplayName>PWM Count</DisplayName>
      <Description>Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.</Description>
      <Values>0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs</Values>
    </BRD_PWM_COUNT>
    <BRD_SER1_RTSCTS>
      <DisplayName>Serial 1 flow control</DisplayName>
      <Description>Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER1_RTSCTS>
    <BRD_SER2_RTSCTS>
      <DisplayName>Serial 2 flow control</DisplayName>
      <Description>Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER2_RTSCTS>
    <BRD_SAFETYENABLE>
      <DisplayName>Enable use of safety arming switch</DisplayName>
      <Description>Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.</Description>
      <Values>0:Disabled,1:Enabled</Values>
    </BRD_SAFETYENABLE>
    <GPS_TYPE>
      <DisplayName>GPS type</DisplayName>
      <Description>GPS type</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav</Values>
    </GPS_TYPE>
    <GPS_TYPE2>
      <DisplayName>2nd GPS type</DisplayName>
      <Description>GPS type of 2nd GPS</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav</Values>
    </GPS_TYPE2>
    <GPS_NAVFILTER>
      <DisplayName>Navigation filter setting</DisplayName>
      <Description>Navigation filter engine setting</Description>
      <Values>0:Portable,2:Stationary,3:Pedestrian,4:Automotive,5:Sea,6:Airborne1G,7:Airborne2G,8:Airborne4G</Values>
    </GPS_NAVFILTER>
    <GPS_AUTO_SWITCH>
      <DisplayName>Automatic Switchover Setting</DisplayName>
      <Description>Automatic switchover to GPS reporting best lock</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </GPS_AUTO_SWITCH>
    <GPS_DGPS_MIN_LOCK>
      <DisplayName>Minimum Lock Type Accepted for DGPS</DisplayName>
      <Description>Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.</Description>
      <Values>0:Any,50:FloatRTK,100:IntegerRTK</Values>
      <User>Advanced</User>
    </GPS_DGPS_MIN_LOCK>
    <GPS_SBAS_MODE>
      <DisplayName>SBAS Mode</DisplayName>
      <Description>This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.</Description>
      <Values>0:Disabled,1:Enabled,2:NoChange</Values>
      <User>Advanced</User>
    </GPS_SBAS_MODE>
    <GPS_MIN_ELEV>
      <DisplayName>Minimum elevation</DisplayName>
      <Description>This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.</Description>
      <Range>-100 90</Range>
      <Units>Degrees</Units>
      <User>Advanced</User>
    </GPS_MIN_ELEV>
    <RC1_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MIN>
    <RC1_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_TRIM>
    <RC1_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MAX>
    <RC1_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC1_REV>
    <RC1_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC1_DZ>
    <RC2_MIN>
      <DisplayName>RC min PWM</DisplayName>
      <Description>RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MIN>
    <RC2_TRIM>
      <DisplayName>RC trim PWM</DisplayName>
      <Description>RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_TRIM>
    <RC2_MAX>
      <DisplayName>RC max PWM</DisplayName>
      <Description>RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MAX>
    <RC2_REV>
      <DisplayName>RC reverse</DisplayName>
      <Description>Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.</Description>
      <Values>-1:Reversed,1:Normal</Values>
      <User>Advanced</User>
    </RC2_REV>
    <RC2_DZ>
      <DisplayName>RC dead-zone</DisplayName>
      <Description>dead zone around trim.</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC2_DZ>
    <SYSID_THISMAV>
      <DisplayName>MAVLink system ID</DisplayName>
      <Description>The identifier of this device in the MAVLink protocol</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_THISMAV>
    <SYSID_MYGCS>
      <DisplayName>Ground station MAVLink system ID</DisplayName>
      <Description>The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_MYGCS>
    <SERIAL0_BAUD>
      <DisplayName>USB Console Baud Rate</DisplayName>
      <Description>The baud rate used on the USB console</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200</Values>
      <User>Standard</User>
    </SERIAL0_BAUD>
    <SERIAL1_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the first telemetry port</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200</Values>
      <User>Standard</User>
    </SERIAL1_BAUD>
    <SERIAL2_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the second telemetry port</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200</Values>
      <User>Standard</User>
    </SERIAL2_BAUD>
    <MAG_ENABLE>
      <DisplayName>Enable Compass</DisplayName>
      <Description>Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MAG_ENABLE>
    <YAW_SLEW_TIME>
      <DisplayName>Time for yaw to slew through its full range</DisplayName>
      <Description>This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.</Description>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <Range>0 20</Range>
      <User>Standard</User>
    </YAW_SLEW_TIME>
    <PITCH_SLEW_TIME>
      <DisplayName>Time for pitch to slew through its full range</DisplayName>
      <Description>This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.</Description>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <Range>0 20</Range>
      <User>Standard</User>
    </PITCH_SLEW_TIME>
    <SCAN_SPEED>
      <DisplayName>Speed at which to rotate in scan mode</DisplayName>
      <Description>This controls how rapidly the tracker will move the servos in SCAN mode</Description>
      <Units>degrees/second</Units>
      <Increment>1</Increment>
      <Range>0 100</Range>
      <User>Standard</User>
    </SCAN_SPEED>
    <MIN_REVERSE_TIME>
      <DisplayName>Minimum time to apply a yaw reversal</DisplayName>
      <Description>When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around.</Description>
      <Units>seconds</Units>
      <Increment>1</Increment>
      <Range>0 20</Range>
      <User>Standard</User>
    </MIN_REVERSE_TIME>
    <START_LATITUDE>
      <DisplayName>Initial Latitude before GPS lock</DisplayName>
      <Description>Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.</Description>
      <Units>degrees</Units>
      <Increment>0.000001</Increment>
      <Range>-90 90</Range>
      <User>Standard</User>
    </START_LATITUDE>
    <START_LONGITUDE>
      <DisplayName>Initial Longitude before GPS lock</DisplayName>
      <Description>Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.</Description>
      <Units>degrees</Units>
      <Increment>0.000001</Increment>
      <Range>-180 180</Range>
      <User>Standard</User>
    </START_LONGITUDE>
    <STARTUP_DELAY>
      <DisplayName>Delay before first servo movement from trim</DisplayName>
      <Description>This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types</Description>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <Range>0 10</Range>
      <User>Standard</User>
    </STARTUP_DELAY>
    <PROXY_MODE>
      <DisplayName>Also act as a MAVLink proxy for a vehicle</DisplayName>
      <Description>If true, the tracker will act as a MAVlink proxy for a remote vehicle, and will eavesdrop vehicle position reports.</Description>
      <Values>0:Off,1:On</Values>
      <User>Standard</User>
    </PROXY_MODE>
    <SERVO_TYPE>
      <DisplayName>Type of servo system being used</DisplayName>
      <Description>This allows selection of position servos or on/off servos</Description>
      <Values>0:Position,1:OnOff</Values>
      <User>Standard</User>
    </SERVO_TYPE>
    <ONOFF_YAW_RATE>
      <DisplayName>Yaw rate for on/off servos</DisplayName>
      <Description>Rate of change of yaw in degrees/second for on/off servos</Description>
      <Units>degrees/second</Units>
      <Increment>0.1</Increment>
      <Range>0 50</Range>
      <User>Standard</User>
    </ONOFF_YAW_RATE>
    <ONOFF_PITCH_RATE>
      <DisplayName>Pitch rate for on/off servos</DisplayName>
      <Description>Rate of change of pitch in degrees/second for on/off servos</Description>
      <Units>degrees/second</Units>
      <Increment>0.1</Increment>
      <Range>0 50</Range>
      <User>Standard</User>
    </ONOFF_PITCH_RATE>
    <ONOFF_YAW_MINT>
      <DisplayName>Yaw minimum movement time</DisplayName>
      <Description>Minimum amount of time in seconds to move in yaw</Description>
      <Units>seconds</Units>
      <Increment>0.01</Increment>
      <Range>0 2</Range>
      <User>Standard</User>
    </ONOFF_YAW_MINT>
    <ONOFF_PITCH_MINT>
      <DisplayName>Pitch minimum movement time</DisplayName>
      <Description>Minimim amount of time in seconds to move in pitch</Description>
      <Units>seconds</Units>
      <Increment>0.01</Increment>
      <Range>0 2</Range>
      <User>Standard</User>
    </ONOFF_PITCH_MINT>
    <YAW_TRIM>
      <DisplayName>Yaw trim</DisplayName>
      <Description>Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass.</Description>
      <Units>degrees</Units>
      <Increment>0.1</Increment>
      <Range>-10 10</Range>
      <User>Standard</User>
    </YAW_TRIM>
    <PITCH_TRIM>
      <DisplayName>Pitch trim</DisplayName>
      <Description>Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer.</Description>
      <Units>degrees</Units>
      <Increment>0.1</Increment>
      <Range>-10 10</Range>
      <User>Standard</User>
    </PITCH_TRIM>
    <YAW_RANGE>
      <DisplayName>Yaw Angle Range</DisplayName>
      <Description>Yaw axis total range of motion in degrees</Description>
      <Units>degrees</Units>
      <Increment>0.1</Increment>
      <Range>0 360</Range>
      <User>Standard</User>
    </YAW_RANGE>
    <PITCH_RANGE>
      <DisplayName>Pitch Range</DisplayName>
      <Description>Pitch axis total range of motion in degrees</Description>
      <Units>degrees</Units>
      <Increment>0.1</Increment>
      <Range>0 180</Range>
      <User>Standard</User>
      <Group>GND_</Group>
      <Path>../libraries/AP_Baro/AP_Baro.cpp</Path>
    </PITCH_RANGE>
    <CMD_TOTAL>
      <DisplayName>Number of loaded mission items</DisplayName>
      <Description>Set to 1 if HOME location has been loaded by the ground station. Do not change this manually.</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </CMD_TOTAL>
  </ArduTracker>
</Params>