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firmware:parameters [2016/06/23 18:45]
xmlrpc Automagically updated parameter documentation from code.
firmware:parameters [2017/06/15 10:03] (current)
julianoes Link to parameter reference in new devguide
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 ====== Parameter Reference ====== ====== Parameter Reference ======
-<​note>​**This list is auto-generated from the source code** and contains the most recent parameter documentation.</​note>​ 
- 
-==== Attitude EKF estimator ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **EKF_ATT_V3_Q0** | Body angular rate process noise |   ​| ​  ​| ​ 1e-4 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF_ATT_V3_Q1** | Body angular acceleration process noise |   ​| ​  ​| ​ 0.08 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF_ATT_V3_Q2** | Acceleration process noise |   ​| ​  ​| ​ 0.009 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF_ATT_V3_Q3** | Magnet field vector process noise |   ​| ​  ​| ​ 0.005 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF_ATT_V4_R0** | Gyro measurement noise |   ​| ​  ​| ​ 0.0008 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF_ATT_V4_R1** | Accel measurement noise |   ​| ​  ​| ​ 10000.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF_ATT_V4_R2** | Mag measurement noise |   ​| ​  ​| ​ 100.0 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_J11** | Moment of inertia matrix diagonal entry (1, 1) |   ​| ​  ​| ​ 0.0018 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_J22** | Moment of inertia matrix diagonal entry (2, 2) |   ​| ​  ​| ​ 0.0018 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_J33** | Moment of inertia matrix diagonal entry (3, 3) |   ​| ​  ​| ​ 0.0037 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_J_EN** | Moment of inertia enabled in estimator |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​If set to != 0 the moment of inertia will be used in the estimator</​div>​ |||| 
- 
-==== Attitude Q estimator ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **ATT_W_ACC** | Complimentary filter accelerometer weight |  0 |  1 |  0.2 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_W_MAG** | Complimentary filter magnetometer weight |  0 |  1 |  0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_W_EXT_HDG** | Complimentary filter external heading weight |  0 |  1 |  0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_W_GYRO_BIAS** | Complimentary filter gyroscope bias weight |  0 |  1 |  0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_MAG_DECL** | Magnetic declination,​ in degrees |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div>​This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.</​div>​ |||| 
-| **ATT_MAG_DECL_A** | Automatic GPS based declination compensation |   ​| ​  ​| ​ 1 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_EXT_HDG_M** | External heading usage mode (from Motion capture/​Vision) Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture |  0 |  2 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_ACC_COMP** | Acceleration compensation based on GPS velocity |   ​| ​  ​| ​ 1 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_BIAS_MAX** | Gyro bias limit |  0 |  2 |  0.05 | 
-| ::: | <​div></​div>​ |||| 
-| **ATT_VIBE_THRESH** | Threshold (of RMS) to warn about high vibration levels |  0.01 |  10 |  0.2 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== Battery Calibration ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **BAT_V_SCALE_IO** | Scaling factor for battery voltage sensor on PX4IO |  1 |  100000 |  10000 | 
-| ::: | <​div></​div>​ |||| 
-| **BAT_CNT_V_VOLT** | Scaling from ADC counts to volt on the ADC input (battery voltage) |   ​| ​  ​| ​ -1.0 | 
-| ::: | <​div>​This is not the battery voltage, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.</​div>​ |||| 
-| **BAT_CNT_V_CURR** | Scaling from ADC counts to volt on the ADC input (battery current) |   ​| ​  ​| ​ -1.0 | 
-| ::: | <​div>​This is not the battery current, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.</​div>​ |||| 
-| **BAT_V_OFFS_CURR** | Offset in volt as seen by the ADC input of the current sensor |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div>​This offset will be subtracted before calculating the battery current based on the voltage.</​div>​ |||| 
-| **BAT_V_DIV** | Battery voltage divider (V divider) |   ​| ​  ​| ​ -1.0 | 
-| ::: | <​div>​This is the divider from battery voltage to 3.3V ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</​div>​ |||| 
-| **BAT_A_PER_V** | Battery current per volt (A/V) |   ​| ​  ​| ​ -1.0 | 
-| ::: | <​div>​The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</​div>​ |||| 
-| **BAT_SOURCE** | Battery monitoring source |  0 |  1 |  0 | 
-| ::: | <​div>​This parameter controls the source of battery data. The value 'Power Module'​ means that measurements are expected to come from a power module. If the value is set to '​External'​ then the system expects to receive mavlink battery status messages.</​div>​ |||| 
-| **BAT_V_EMPTY** | Empty cell voltage (5C load) |   ​| ​  ​| ​ 3.4 | 
-| ::: | <​div>​Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</​div>​ |||| 
-| **BAT_V_CHARGED** | Full cell voltage (5C load) |   ​| ​  ​| ​ 4.05 | 
-| ::: | <​div>​Defines the voltage where a single cell of the battery is considered full under a mild load. This will never be the nominal voltage of 4.2V</​div>​ |||| 
-| **BAT_LOW_THR** | Low threshold |  0.12 |  0.4 |  0.15 | 
-| ::: | <​div>​Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.</​div>​ |||| 
-| **BAT_CRIT_THR** | Critical threshold |  0.05 |  0.1 |  0.07 | 
-| ::: | <​div>​Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL or landing.</​div>​ |||| 
-| **BAT_V_LOAD_DROP** | Voltage drop per cell on full throttle |  0.07 |  0.5 |  0.3 | 
-| ::: | <​div>​This implicitely defines the internal resistance to maximum current ratio and assumes linearity. A good value to use is the difference between the 5C and 20-25C load.</​div>​ |||| 
-| **BAT_N_CELLS** | Number of cells |   ​| ​  ​| ​ 3 | 
-| ::: | <​div>​Defines the number of cells the attached battery consists of.</​div>​ |||| 
-| **BAT_CAPACITY** | Battery capacity |  -1.0 |  100000 |  -1.0 | 
-| ::: | <​div>​Defines the capacity of the attached battery.</​div>​ |||| 
- 
-==== Camera trigger ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **TRIG_INTERVAL** | Camera trigger interval |  4.0 |  10000.0 |  40.0 | 
-| ::: | <​div>​This parameter sets the time between two consecutive trigger events</​div>​ |||| 
-| **TRIG_POLARITY** | Camera trigger polarity |  0 |  1 |  0 | 
-| ::: | <​div>​This parameter sets the polarity of the trigger (0 = active low, 1 = active high )</​div>​ |||| 
-| **TRIG_ACT_TIME** | Camera trigger activation time |  0.1 |  3 |  0.5 | 
-| ::: | <​div>​This parameter sets the time the trigger needs to pulled high or low.</​div>​ |||| 
-| **TRIG_MODE** | Camera trigger mode |  0 |  4 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **TRIG_PINS** | Camera trigger pin |  1 |  123456 |  12 | 
-| ::: | <​div>​Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6)</​div>​ |||| 
-| **TRIG_DISTANCE** | Camera trigger distance |  0 |   ​| ​ 25.0 | 
-| ::: | <​div>​Sets the distance at which to trigger the camera.</​div>​ |||| 
- 
-==== Circuit Breaker ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **CBRK_SUPPLY_CHK** | Circuit breaker for power supply check |  0 |  894281 |  0 | 
-| ::: | <​div>​Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</​div>​ |||| 
-| **CBRK_RATE_CTRL** | Circuit breaker for rate controller output |  0 |  140253 |  0 | 
-| ::: | <​div>​Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</​div>​ |||| 
-| **CBRK_IO_SAFETY** | Circuit breaker for IO safety |  0 |  22027 |  0 | 
-| ::: | <​div>​Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</​div>​ |||| 
-| **CBRK_AIRSPD_CHK** | Circuit breaker for airspeed sensor |  0 |  162128 |  0 | 
-| ::: | <​div>​Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</​div>​ |||| 
-| **CBRK_FLIGHTTERM** | Circuit breaker for flight termination |  0 |  121212 |  121212 | 
-| ::: | <​div>​Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</​div>​ |||| 
-| **CBRK_ENGINEFAIL** | Circuit breaker for engine failure detection |  0 |  284953 |  284953 | 
-| ::: | <​div>​Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</​div>​ |||| 
-| **CBRK_GPSFAIL** | Circuit breaker for GPS failure detection |  0 |  240024 |  0 | 
-| ::: | <​div>​Setting this parameter to 240024 will disable the GPS failure detection. If this check is enabled, then the sensor check will fail if the GPS module is missing. It will also check for excessive signal noise on the GPS receiver and warn the user if detected. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</​div>​ |||| 
-| **CBRK_BUZZER** | Circuit breaker for disabling buzzer |  0 |  782097 |  0 | 
-| ::: | <​div>​Setting this parameter to 782097 will disable the buzzer audio notification. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</​div>​ |||| 
-| **CBRK_USB_CHK** | Circuit breaker for USB link check |  0 |  197848 |  0 | 
-| ::: | <​div>​Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</​div>​ |||| 
- 
-==== Commander ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **COM_DL_LOSS_T** | Datalink loss time threshold |  5 |  300 |  10 | 
-| ::: | <​div>​After this amount of seconds without datalink the data link lost mode triggers</​div>​ |||| 
-| **COM_DL_REG_T** | Datalink regain time threshold |  0 |  3 |  0 | 
-| ::: | <​div>​After a data link loss: after this this amount of seconds with a healthy datalink the '​datalink loss' flag is set back to false</​div>​ |||| 
-| **COM_EF_THROT** | Engine Failure Throttle Threshold |  0.0 |  1.0 |  0.5 | 
-| ::: | <​div>​Engine failure triggers only above this throttle value</​div>​ |||| 
-| **COM_EF_C2T** | Engine Failure Current/​Throttle Threshold |  0.0 |  50.0 |  5.0 | 
-| ::: | <​div>​Engine failure triggers only below this current value</​div>​ |||| 
-| **COM_EF_TIME** | Engine Failure Time Threshold |  0.0 |  60.0 |  10.0 | 
-| ::: | <​div>​Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time</​div>​ |||| 
-| **COM_RC_LOSS_T** | RC loss time threshold |  0 |  35 |  0.5 | 
-| ::: | <​div>​After this amount of seconds without RC connection the rc lost flag is set to true</​div>​ |||| 
-| **COM_HOME_H_T** | Home set horizontal threshold |  2 |  15 |  5.0 | 
-| ::: | <​div>​The home position will be set if the estimated positioning accuracy is below the threshold.</​div>​ |||| 
-| **COM_HOME_V_T** | Home set vertical threshold |  5 |  25 |  10.0 | 
-| ::: | <​div>​The home position will be set if the estimated positioning accuracy is below the threshold.</​div>​ |||| 
-| **COM_AUTOS_PAR** | Autosaving of params |   ​| ​  ​| ​ 1 | 
-| ::: | <​div>​If not equal to zero the commander will automatically save parameters to persistent storage once changed. Default is on, as the interoperability with currently deployed GCS solutions depends on parameters being sticky. Developers can default it to off.</​div>​ |||| 
-| **COM_RC_IN_MODE** | RC control input mode |  0 |  2 |  0 | 
-| ::: | <​div>​The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.</​div>​ |||| 
-| **COM_RC_ARM_HYST** | RC input arm/disarm command duration |  100 |  1500 |  1000 | 
-| ::: | <​div>​The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.</​div>​ |||| 
-| **COM_DISARM_LAND** | Time-out for auto disarm after landing |  0 |  20 |  0 | 
-| ::: | <​div>​A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A value of zero means that automatic disarming is disabled.</​div>​ |||| 
-| **COM_ARM_WO_GPS** | Allow arming without GPS |  0 |  1 |  1 | 
-| ::: | <​div>​The default allows to arm the vehicle without GPS signal.</​div>​ |||| 
-| **COM_LOW_BAT_ACT** | Battery failsafe mode |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Action the system takes on low battery. Defaults to off</​div>​ |||| 
-| **COM_OF_LOSS_T** | Time-out to wait when offboard connection is lost before triggering offboard lost action. See COM_OBL_ACT and COM_OBL_RC_ACT to configure action |  0 |  60 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== Data Link Loss ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **NAV_DLL_CH_T** | Comms hold wait time |  0.0 |  3600.0 |  120.0 | 
-| ::: | <​div>​The amount of time in seconds the system should wait at the comms hold waypoint</​div>​ |||| 
-| **NAV_DLL_CH_LAT** | Comms hold Lat |  -900000000 |  900000000 |  -266072120 | 
-| ::: | <​div>​Latitude of comms hold waypoint</​div>​ |||| 
-| **NAV_DLL_CH_LON** | Comms hold Lon |  -1800000000 |  1800000000 |  1518453890 | 
-| ::: | <​div>​Longitude of comms hold waypoint</​div>​ |||| 
-| **NAV_DLL_CH_ALT** | Comms hold alt |  -50 |  30000 |  600.0 | 
-| ::: | <​div>​Altitude of comms hold waypoint</​div>​ |||| 
-| **NAV_DLL_AH_T** | Airfield home wait time |  0.0 |  3600.0 |  120.0 | 
-| ::: | <​div>​The amount of time in seconds the system should wait at the airfield home waypoint</​div>​ |||| 
-| **NAV_DLL_N** | Number of allowed Datalink timeouts |  0 |  1000 |  2 | 
-| ::: | <​div>​After more than this number of data link timeouts the aircraft returns home directly</​div>​ |||| 
-| **NAV_DLL_CHSK** | Skip comms hold wp |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home</​div>​ |||| 
-| **NAV_AH_LAT** | Airfield home Lat |  -900000000 |  900000000 |  -265847810 | 
-| ::: | <​div>​Latitude of airfield home waypoint</​div>​ |||| 
-| **NAV_AH_LON** | Airfield home Lon |  -1800000000 |  1800000000 |  1518423250 | 
-| ::: | <​div>​Longitude of airfield home waypoint</​div>​ |||| 
-| **NAV_AH_ALT** | Airfield home alt |  -50 |   ​| ​ 600.0 | 
-| ::: | <​div>​Altitude of airfield home waypoint</​div>​ |||| 
- 
-==== EKF2 ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **EKF2_MAG_DELAY** | Magnetometer measurement delay relative to IMU measurements |  0 |  300 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_BARO_DELAY** | Barometer measurement delay relative to IMU measurements |  0 |  300 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GPS_DELAY** | GPS measurement delay relative to IMU measurements |  0 |  300 |  200 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_OF_DELAY** | Optical flow measurement delay relative to IMU measurements Assumes measurement is timestamped at trailing edge of integration period |  0 |  300 |  5 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_RNG_DELAY** | Range finder measurement delay relative to IMU measurements |  0 |  300 |  5 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_ASP_DELAY** | Airspeed measurement delay relative to IMU measurements |  0 |  300 |  200 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_EV_DELAY** | Vision Position Estimator delay relative to IMU measurements |  0 |  300 |  175 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GPS_CHECK** | Integer bitmask controlling GPS checks |  0 |  511 |  21 | 
-| ::: | <​div>​Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required GDoP set by EKF2_REQ_GDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehciel is stationary during alignment. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT</​div>​ |||| 
-| **EKF2_REQ_EPH** | Required EPH to use GPS |  2 |  100 |  5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_REQ_EPV** | Required EPV to use GPS |  2 |  100 |  8.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_REQ_SACC** | Required speed accuracy to use GPS |  0.5 |  5.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_REQ_NSATS** | Required satellite count to use GPS |  4 |  12 |  6 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_REQ_GDOP** | Required GDoP to use GPS |  1.5 |  5.0 |  2.5 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_REQ_HDRIFT** | Maximum horizontal drift speed to use GPS |  0.1 |  1.0 |  0.3 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_REQ_VDRIFT** | Maximum vertical drift speed to use GPS |  0.1 |  1.5 |  0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GYR_NOISE** | Rate gyro noise for covariance prediction |  0.0001 |  0.1 |  1.5e-2 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_ACC_NOISE** | Accelerometer noise for covariance prediction |  0.01 |  1.0 |  3.5e-1 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GYR_B_NOISE** | Process noise for IMU rate gyro bias prediction |  0.0 |  0.01 |  1.0e-3 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_ACC_B_NOISE** | Process noise for IMU accelerometer bias prediction |  0.0 |  0.01 |  3.0e-3 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_MAG_B_NOISE** | Process noise for body magnetic field prediction |  0.0 |  0.1 |  1.0e-4 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_MAG_E_NOISE** | Process noise for earth magnetic field prediction |  0.0 |  0.1 |  1.0e-3 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_WIND_NOISE** | Process noise for wind velocity prediction |  0.0 |  1.0 |  1.0e-1 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GPS_V_NOISE** | Measurement noise for gps horizontal velocity |  0.01 |  5.0 |  0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GPS_P_NOISE** | Measurement noise for gps position |  0.01 |  10.0 |  0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_NOAID_NOISE** | Measurement noise for non-aiding position hold |  0.5 |  50.0 |  10.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_BARO_NOISE** | Measurement noise for barometric altitude |  0.01 |  15.0 |  2.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_HEAD_NOISE** | Measurement noise for magnetic heading fusion |  0.01 |  1.0 |  0.3 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_MAG_NOISE** | Measurement noise for magnetometer 3-axis fusion |  0.001 |  1.0 |  5.0e-2 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_EAS_NOISE** | Measurement noise for airspeed fusion |  0.5 |  5.0 |  1.4 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_MAG_DECL** | Magnetic declination |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_HDG_GATE** | Gate size for magnetic heading fusion |  1.0 |   ​| ​ 2.6 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_MAG_GATE** | Gate size for magnetometer XYZ component fusion |  1.0 |   ​| ​ 3.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_DECL_TYPE** | Integer bitmask controlling handling of magnetic declination |  0 |  7 |  7 | 
-| ::: | <​div>​Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observaton when 3-axis magnetometer fusion is being used.</​div>​ |||| 
-| **EKF2_MAG_TYPE** | Type of magnetometer fusion |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight</​div>​ |||| 
-| **EKF2_BARO_GATE** | Gate size for barometric height fusion |  1.0 |   ​| ​ 5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GPS_P_GATE** | Gate size for GPS horizontal position fusion |  1.0 |   ​| ​ 5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GPS_V_GATE** | Gate size for GPS velocity fusion |  1.0 |   ​| ​ 5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_TAS_GATE** | Gate size for TAS fusion |  1.0 |   ​| ​ 3.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_REC_RPL** | Replay mode |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​A value of 1 indicates that the ekf2 module will publish replay messages for logging.</​div>​ |||| 
-| **EKF2_AID_MASK** | Integer bitmask controlling data fusion and aiding methods |  0 |  28 |  1 | 
-| ::: | <​div>​Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion *</​div>​ |||| 
-| **EKF2_HGT_MODE** | Determines the primary source of height data used by the EKF |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.</​div>​ |||| 
-| **EKF2_RNG_NOISE** | Measurement noise for range finder fusion |  0.01 |   ​| ​ 0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_RNG_GATE** | Gate size for range finder fusion |  1.0 |   ​| ​ 5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_MIN_RNG** | Minimum valid range for the range finder |  0.01 |   ​| ​ 0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_EVP_NOISE** | Measurement noise for vision position observations used when the vision system does not supply error estimates |  0.01 |   ​| ​ 0.05 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_EVA_NOISE** | Measurement noise for vision angle observations used when the vision system does not supply error estimates |  0.01 |   ​| ​ 0.05 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_EV_GATE** | Gate size for vision estimate fusion |  1.0 |   ​| ​ 5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_MIN_EV** | Minimum valid range for the vision estimate |  0.01 |   ​| ​ 0.01 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_OF_N_MIN** | Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum |  0.05 |   ​| ​ 0.15 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_OF_N_MAX** | Measurement noise for the optical flow sensor |  0.05 |   ​| ​ 0.5 | 
-| ::: | <​div>​(when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN</​div>​ |||| 
-| **EKF2_OF_QMIN** | Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN |  0 |  255 |  1 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_OF_GATE** | Gate size for optical flow fusion |  1.0 |   ​| ​ 3.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_OF_RMAX** | Optical Flow data will not fused if the magnitude of the flow rate > EKF2_OF_RMAX |  1.0 |   ​| ​ 2.5 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_TERR_NOISE** | Terrain altitude process noise - accounts for instability in vehicle height estimate |  0.5 |   ​| ​ 5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_TERR_GRAD** | Magnitude of terrain gradient |  0.0 |   ​| ​ 0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_IMU_POS_X** | X position of IMU in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_IMU_POS_Y** | Y position of IMU in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_IMU_POS_Z** | Z position of IMU in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GPS_POS_X** | X position of GPS antenna in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GPS_POS_Y** | Y position of GPS antenna in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GPS_POS_Z** | Z position of GPS antenna in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_RNG_POS_X** | X position of range finder origin in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_RNG_POS_Y** | Y position of range finder origin in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_RNG_POS_Z** | Z position of range finder origin in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_OF_POS_X** | X position of optical flow focal point in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_OF_POS_Y** | Y position of optical flow focal point in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_OF_POS_Z** | Z position of optical flow focal point in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_EV_POS_X** | X position of VI sensor focal point in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_EV_POS_Y** | Y position of VI sensor focal point in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_EV_POS_Z** | Z position of VI sensor focal point in body frame |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_ARSP_THR** | Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive value will determine the minimum airspeed which will still be fused |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_TAU_VEL** | Time constant of the velocity output prediction and smoothing filter |   ​| ​ 1.0 |  0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_TAU_POS** | Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states |  0.1 |  1.0 |  0.25 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_GBIAS_INIT** | 1-sigma IMU gyro switch-on bias |  0.0 |  0.2 |  0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_ABIAS_INIT** | 1-sigma IMU accelerometer switch-on bias |  0.0 |  0.5 |  0.2 | 
-| ::: | <​div></​div>​ |||| 
-| **EKF2_ANGERR_INIT** | 1-sigma tilt angle uncertainty after gravity vector alignment |  0.0 |  0.5 |  0.1 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== FW Attitude Control ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **FW_R_TC** | Attitude Roll Time Constant |  0.4 |  1.0 |  0.4 | 
-| ::: | <​div>​This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.</​div>​ |||| 
-| **FW_P_TC** | Attitude Pitch Time Constant |  0.2 |  1.0 |  0.4 | 
-| ::: | <​div>​This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.</​div>​ |||| 
-| **FW_PR_P** | Pitch rate proportional gain |  0.005 |  1.0 |  0.08 | 
-| ::: | <​div>​This defines how much the elevator input will be commanded depending on the current body angular rate error.</​div>​ |||| 
-| **FW_PR_I** | Pitch rate integrator gain |  0.005 |  0.5 |  0.02 | 
-| ::: | <​div>​This gain defines how much control response will result out of a steady state error. It trims any constant error.</​div>​ |||| 
-| **FW_P_RMAX_POS** | Maximum positive / up pitch rate |  0.0 |  90.0 |  60.0 | 
-| ::: | <​div>​This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</​div>​ |||| 
-| **FW_P_RMAX_NEG** | Maximum negative / down pitch rate |  0.0 |  90.0 |  60.0 | 
-| ::: | <​div>​This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</​div>​ |||| 
-| **FW_PR_IMAX** | Pitch rate integrator limit |  0.0 |  1.0 |  0.4 | 
-| ::: | <​div>​The portion of the integrator part in the control surface deflection is limited to this value</​div>​ |||| 
-| **FW_RR_P** | Roll rate proportional Gain |  0.005 |  1.0 |  0.05 | 
-| ::: | <​div>​This defines how much the aileron input will be commanded depending on the current body angular rate error.</​div>​ |||| 
-| **FW_RR_I** | Roll rate integrator Gain |  0.005 |  0.2 |  0.01 | 
-| ::: | <​div>​This gain defines how much control response will result out of a steady state error. It trims any constant error.</​div>​ |||| 
-| **FW_RR_IMAX** | Roll Integrator Anti-Windup |  0.0 |  1.0 |  0.2 | 
-| ::: | <​div>​The portion of the integrator part in the control surface deflection is limited to this value.</​div>​ |||| 
-| **FW_R_RMAX** | Maximum Roll Rate |  0.0 |  90.0 |  70.0 | 
-| ::: | <​div>​This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</​div>​ |||| 
-| **FW_YR_P** | Yaw rate proportional gain |  0.005 |  1.0 |  0.05 | 
-| ::: | <​div>​This defines how much the rudder input will be commanded depending on the current body angular rate error.</​div>​ |||| 
-| **FW_YR_I** | Yaw rate integrator gain |  0.0 |  50.0 |  0.0 | 
-| ::: | <​div>​This gain defines how much control response will result out of a steady state error. It trims any constant error.</​div>​ |||| 
-| **FW_YR_IMAX** | Yaw rate integrator limit |  0.0 |  1.0 |  0.2 | 
-| ::: | <​div>​The portion of the integrator part in the control surface deflection is limited to this value</​div>​ |||| 
-| **FW_Y_RMAX** | Maximum Yaw Rate |  0.0 |  90.0 |  0.0 | 
-| ::: | <​div>​This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</​div>​ |||| 
-| **FW_WR_P** | Wheel steering rate proportional gain |  0.005 |  1.0 |  0.5 | 
-| ::: | <​div>​This defines how much the wheel steering input will be commanded depending on the current body angular rate error.</​div>​ |||| 
-| **FW_WR_I** | Wheel steering rate integrator gain |  0.005 |  0.5 |  0.1 | 
-| ::: | <​div>​This gain defines how much control response will result out of a steady state error. It trims any constant error.</​div>​ |||| 
-| **FW_WR_IMAX** | Wheel steering rate integrator limit |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div>​The portion of the integrator part in the control surface deflection is limited to this value</​div>​ |||| 
-| **FW_W_RMAX** | Maximum wheel steering rate |  0.0 |  90.0 |  0.0 | 
-| ::: | <​div>​This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</​div>​ |||| 
-| **FW_RR_FF** | Roll rate feed forward |  0.0 |  10.0 |  0.5 | 
-| ::: | <​div>​Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.</​div>​ |||| 
-| **FW_PR_FF** | Pitch rate feed forward |  0.0 |  10.0 |  0.5 | 
-| ::: | <​div>​Direct feed forward from rate setpoint to control surface output</​div>​ |||| 
-| **FW_YR_FF** | Yaw rate feed forward |  0.0 |  10.0 |  0.3 | 
-| ::: | <​div>​Direct feed forward from rate setpoint to control surface output</​div>​ |||| 
-| **FW_WR_FF** | Wheel steering rate feed forward |  0.0 |  10.0 |  0.2 | 
-| ::: | <​div>​Direct feed forward from rate setpoint to control surface output</​div>​ |||| 
-| **FW_YCO_VMIN** | Minimal speed for yaw coordination |  0.0 |  1000.0 |  1000.0 | 
-| ::: | <​div>​For airspeeds above this value, the yaw rate is calculated for a coordinated turn. Set to a very high value to disable.</​div>​ |||| 
-| **FW_YCO_METHOD** | Method used for yaw coordination |  0 |  1 |  0 | 
-| ::: | <​div>​The param value sets the method used to calculate the yaw rate 0: open-loop zero lateral acceleration based on kinematic constraints 1: closed-loop:​ try to reduce lateral acceleration to 0 by measuring the acceleration</​div>​ |||| 
-| **FW_RSP_OFF** | Roll Setpoint Offset |  -90.0 |  90.0 |  0.0 | 
-| ::: | <​div>​An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe.</​div>​ |||| 
-| **FW_PSP_OFF** | Pitch Setpoint Offset |  -90.0 |  90.0 |  0.0 | 
-| ::: | <​div>​An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe.</​div>​ |||| 
-| **FW_MAN_R_MAX** | Max Manual Roll |  0.0 |  90.0 |  45.0 | 
-| ::: | <​div>​Max roll for manual control in attitude stabilized mode</​div>​ |||| 
-| **FW_MAN_P_MAX** | Max Manual Pitch |  0.0 |  90.0 |  45.0 | 
-| ::: | <​div>​Max pitch for manual control in attitude stabilized mode</​div>​ |||| 
-| **FW_FLAPS_SCL** | Scale factor for flaps |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_FLAPERON_SCL** | Scale factor for flaperons |  0.0 |  1.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_ARSP_MODE** | Airspeed mode |  0 |  2 |  0 | 
-| ::: | <​div>​The param value sets the method used to publish the control state airspeed. For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading</​div>​ |||| 
- 
-==== FW L1 Control ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **FW_L1_PERIOD** | L1 period |  12.0 |  50.0 |  20.0 | 
-| ::: | <​div>​This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation.</​div>​ |||| 
-| **FW_L1_DAMPING** | L1 damping |  0.6 |  0.9 |  0.75 | 
-| ::: | <​div>​Damping factor for L1 control.</​div>​ |||| 
-| **FW_THR_CRUISE** | Cruise throttle |  0.0 |  1.0 |  0.6 | 
-| ::: | <​div>​This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.</​div>​ |||| 
-| **FW_THR_SLEW_MAX** | Throttle max slew rate |  0.0 |  1.0 |  0.0 | 
-| ::: | <​div>​Maximum slew rate for the commanded throttle</​div>​ |||| 
-| **FW_P_LIM_MIN** | Negative pitch limit |  -60.0 |  0.0 |  -45.0 | 
-| ::: | <​div>​The minimum negative pitch the controller will output.</​div>​ |||| 
-| **FW_P_LIM_MAX** | Positive pitch limit |  0.0 |  60.0 |  45.0 | 
-| ::: | <​div>​The maximum positive pitch the controller will output.</​div>​ |||| 
-| **FW_R_LIM** | Controller roll limit |  35.0 |  65.0 |  50.0 | 
-| ::: | <​div>​The maximum roll the controller will output.</​div>​ |||| 
-| **FW_THR_MAX** | Throttle limit max |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div>​This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.</​div>​ |||| 
-| **FW_THR_MIN** | Throttle limit min |  0.0 |  1.0 |  0.0 | 
-| ::: | <​div>​This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.</​div>​ |||| 
-| **FW_THR_IDLE** | Idle throttle |  0.0 |  0.4 |  0.15 | 
-| ::: | <​div>​This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.</​div>​ |||| 
-| **FW_THR_LND_MAX** | Throttle limit value before flare |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div>​This throttle value will be set as throttle limit at FW_LND_TLALT,​ before aircraft will flare.</​div>​ |||| 
-| **FW_CLMBOUT_DIFF** | Climbout Altitude difference |  0.0 |  150.0 |  10.0 | 
-| ::: | <​div>​If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to 0 to disable climbout mode (not recommended).</​div>​ |||| 
-| **FW_LND_ANG** | Landing slope angle |  1.0 |  15.0 |  5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_LND_HVIRT** |  |  1.0 |  15.0 |  10.0 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_LND_FLALT** | Landing flare altitude (relative to landing altitude) |  0.0 |  25.0 |  8.0 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_LND_TLALT** | Landing throttle limit altitude (relative landing altitude) |  -1.0 |  30.0 |  -1.0 | 
-| ::: | <​div>​Default of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude.</​div>​ |||| 
-| **FW_LND_HHDIST** | Landing heading hold horizontal distance |  0 |  30.0 |  15.0 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_LND_USETER** | Use terrain estimate during landing |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_LND_FL_PMIN** | Flare, minimum pitch |  0 |  15.0 |  2.5 | 
-| ::: | <​div>​Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</​div>​ |||| 
-| **FW_LND_FL_PMAX** | Flare, maximum pitch |  0 |  45.0 |  15.0 | 
-| ::: | <​div>​Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</​div>​ |||| 
-| **FW_LND_AIRSPD_SC** | Min. airspeed scaling factor for landing |  1.0 |  1.5 |  1.3 | 
-| ::: | <​div>​Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC</​div>​ |||| 
- 
-==== FW TECS ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **FW_AIRSPD_MIN** | Minimum Airspeed |  0.0 |  40 |  10.0 | 
-| ::: | <​div>​If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively.</​div>​ |||| 
-| **FW_AIRSPD_MAX** | Maximum Airspeed |  0.0 |  40 |  20.0 | 
-| ::: | <​div>​If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively.</​div>​ |||| 
-| **FW_T_CLMB_MAX** | Maximum climb rate |  1.0 |  15.0 |  5.0 | 
-| ::: | <​div>​This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.</​div>​ |||| 
-| **FW_T_SINK_MIN** | Minimum descent rate |  1.0 |  5.0 |  2.0 | 
-| ::: | <​div>​This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.</​div>​ |||| 
-| **FW_T_SINK_MAX** | Maximum descent rate |  2.0 |  15.0 |  5.0 | 
-| ::: | <​div>​This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.</​div>​ |||| 
-| **FW_T_TIME_CONST** | TECS time constant |  1.0 |  10.0 |  5.0 | 
-| ::: | <​div>​This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.</​div>​ |||| 
-| **FW_T_THRO_CONST** | TECS Throttle time constant |  1.0 |  10.0 |  8.0 | 
-| ::: | <​div>​This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.</​div>​ |||| 
-| **FW_T_THR_DAMP** | Throttle damping factor |  0.0 |  2.0 |  0.5 | 
-| ::: | <​div>​This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.</​div>​ |||| 
-| **FW_T_INTEG_GAIN** | Integrator gain |  0.0 |  2.0 |  0.1 | 
-| ::: | <​div>​This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot.</​div>​ |||| 
-| **FW_T_VERT_ACC** | Maximum vertical acceleration |  1.0 |  10.0 |  7.0 | 
-| ::: | <​div>​This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.</​div>​ |||| 
-| **FW_T_HGT_OMEGA** | Complementary filter "​omega"​ parameter for height |  1.0 |  10.0 |  3.0 | 
-| ::: | <​div>​This is the cross-over frequency (in radians/​second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data.</​div>​ |||| 
-| **FW_T_SPD_OMEGA** | Complementary filter "​omega"​ parameter for speed |  1.0 |  10.0 |  2.0 | 
-| ::: | <​div>​This is the cross-over frequency (in radians/​second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.</​div>​ |||| 
-| **FW_T_RLL2THR** | Roll -> Throttle feedforward |  0.0 |  20.0 |  15.0 | 
-| ::: | <​div>​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.</​div>​ |||| 
-| **FW_T_SPDWEIGHT** | Speed <--> Altitude priority |  0.0 |  2.0 |  1.0 | 
-| ::: | <​div>​This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).</​div>​ |||| 
-| **FW_T_PTCH_DAMP** | Pitch damping factor |  0.0 |  2.0 |  0.0 | 
-| ::: | <​div>​This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.</​div>​ |||| 
-| **FW_T_HRATE_P** | Height rate P factor |  0.0 |  2.0 |  0.05 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_T_HRATE_FF** | Height rate FF factor |  0.0 |  2.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_T_SRATE_P** | Speed rate P factor |  0.0 |  2.0 |  0.02 | 
-| ::: | <​div></​div>​ |||| 
-| **FW_AIRSPD_TRIM** | Cruise Airspeed |  0.0 |  40 |  15.0 | 
-| ::: | <​div>​The fixed wing controller tries to fly at this airspeed.</​div>​ |||| 
- 
-==== Follow target ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **NAV_MIN_FT_HT** | Minimum follow target altitude |  8.0 |   ​| ​ 8.0 | 
-| ::: | <​div>​The minimum height in meters relative to home for following a target</​div>​ |||| 
-| **NAV_FT_DST** | Distance to follow target from |  1.0 |   ​| ​ 8.0 | 
-| ::: | <​div>​The distance in meters to follow the target at</​div>​ |||| 
-| **NAV_FT_FS** | Side to follow target from |  0 |  3 |  1 | 
-| ::: | <​div>​The side to follow the target from (front right = 0, behind = 1, front = 2, front left = 3)</​div>​ |||| 
-| **NAV_FT_RS** | Dynamic filtering algorithm responsiveness to target movement lower numbers increase the responsiveness to changing long lat but also ignore less noise |  0.0 |  1.0 |  0.5 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== GPS ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **GPS_DUMP_COMM** | Dump GPS communication to a file |  0 |  1 |  0 | 
-| ::: | <​div>​If this is set to 1, all GPS communication data will be written to a file. Two files will be created, for reading and writing. All communication from startup until device disarm will be dumped.</​div>​ |||| 
- 
-==== GPS Failure Navigation ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **NAV_GPSF_LT** | Loiter time |  0.0 |  3600.0 |  30.0 | 
-| ::: | <​div>​The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination.</​div>​ |||| 
-| **NAV_GPSF_R** | Open loop loiter roll |  0.0 |  30.0 |  15.0 | 
-| ::: | <​div>​Roll in degrees during the open loop loiter</​div>​ |||| 
-| **NAV_GPSF_P** | Open loop loiter pitch |  -30.0 |  30.0 |  0.0 | 
-| ::: | <​div>​Pitch in degrees during the open loop loiter</​div>​ |||| 
-| **NAV_GPSF_TR** | Open loop loiter thrust |  0.0 |  1.0 |  0.7 | 
-| ::: | <​div>​Thrust value which is set during the open loop loiter</​div>​ |||| 
- 
-==== Geofence ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **GF_ACTION** | Geofence violation action |  0 |  4 |  1 | 
-| ::: | <​div>​Note:​ Setting this value to 4 enables flight termination,​ which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.</​div>​ |||| 
-| **GF_ALTMODE** | Geofence altitude mode |  0 |  1 |  0 | 
-| ::: | <​div>​Select which altitude reference should be used 0 = WGS84, 1 = AMSL</​div>​ |||| 
-| **GF_SOURCE** | Geofence source |  0 |  1 |  0 | 
-| ::: | <​div>​Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS</​div>​ |||| 
-| **GF_COUNT** | Geofence counter limit |  -1 |  10 |  -1 | 
-| ::: | <​div>​Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered</​div>​ |||| 
-| **GF_MAX_HOR_DIST** | Max horizontal distance in meters |  -1 |  5000 |  -1 | 
-| ::: | <​div>​Set to > 0 to activate a geofence action if horizontal distance to home exceeds this value.</​div>​ |||| 
-| **GF_MAX_VER_DIST** | Max vertical distance in meters |  -1 |   ​| ​ -1 | 
-| ::: | <​div>​Set to > 0 to activate a geofence action if vertical distance to home exceeds this value.</​div>​ |||| 
- 
-==== Gimbal ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **GMB_USE_MNT** | Consider mount operation mode |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​If set to 1, mount mode will be enforced.</​div>​ |||| 
-| **GMB_AUX_MNT_CHN** | Auxiliary switch to set mount operation mode |  0 |  3 |  0 | 
-| ::: | <​div>​Set to 0 to disable manual mode control. If set to an auxiliary switch: Switch off means the gimbal is put into safe/locked position. Switch on means the gimbal can move freely, and landing gear will be retracted if applicable.</​div>​ |||| 
- 
-==== Land Detector ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **LNDMC_Z_VEL_MAX** | Multicopter max climb rate |   ​| ​  ​| ​ 0.70 | 
-| ::: | <​div>​Maximum vertical velocity allowed in the landed state (m/s up and down)</​div>​ |||| 
-| **LNDMC_XY_VEL_MAX** | Multicopter max horizontal velocity |   ​| ​  ​| ​ 1.50 | 
-| ::: | <​div>​Maximum horizontal velocity allowed in the landed state (m/​s)</​div>​ |||| 
-| **LNDMC_ROT_MAX** | Multicopter max rotation |   ​| ​  ​| ​ 20.0 | 
-| ::: | <​div>​Maximum allowed angular velocity around each axis allowed in the landed state.</​div>​ |||| 
-| **LNDMC_FFALL_THR** | Multicopter specific force threshold |  0.1 |  10 |  2.0 | 
-| ::: | <​div>​Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection</​div>​ |||| 
-| **LNDMC_FFALL_TTRI** | Multicopter free-fall trigger time |  0.02 |  5 |  0.3 | 
-| ::: | <​div>​Seconds (decimal) that freefall conditions have to met before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h</​div>​ |||| 
-| **LNDFW_VEL_XY_MAX** | Fixedwing max horizontal velocity |  0.5 |  10 |  5.0 | 
-| ::: | <​div>​Maximum horizontal velocity allowed in the landed state (m/​s)</​div>​ |||| 
-| **LNDFW_VEL_Z_MAX** | Fixedwing max climb rate |  5 |  20 |  10.0 | 
-| ::: | <​div>​Maximum vertical velocity allowed in the landed state (m/s up and down)</​div>​ |||| 
-| **LNDFW_VELI_MAX** | Fixedwing max short-term velocity |  2 |  10 |  4.0 | 
-| ::: | <​div>​Maximum velocity integral in flight direction allowed in the landed state (m/​s)</​div>​ |||| 
-| **LNDFW_AIRSPD_MAX** | Airspeed max |  4 |  20 |  8.00 | 
-| ::: | <​div>​Maximum airspeed allowed in the landed state (m/​s)</​div>​ |||| 
- 
-==== Launch detection ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **LAUN_ALL_ON** | Launch detection |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **LAUN_CAT_A** | Catapult accelerometer threshold |  0 |   ​| ​ 30.0 | 
-| ::: | <​div>​LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.</​div>​ |||| 
-| **LAUN_CAT_T** | Catapult time threshold |  0.0 |  5.0 |  0.05 | 
-| ::: | <​div>​LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.</​div>​ |||| 
-| **LAUN_CAT_MDEL** | Motor delay |  0.0 |  10.0 |  0.0 | 
-| ::: | <​div>​Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE,​ set to 0 to deactivate</​div>​ |||| 
-| **LAUN_CAT_PMAX** | Maximum pitch before the throttle is powered up (during motor delay phase) |  0.0 |  45.0 |  30.0 | 
-| ::: | <​div>​This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).</​div>​ |||| 
- 
-==== Local Position Estimator ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **LPE_INTEGRATE** | Accelerometer integration for prediction |   ​| ​  ​| ​ 1 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_FLW_OFF_Z** | Optical flow z offset from center |  -1 |  1 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_FLW_XY** | Optical flow xy standard deviation |  0.01 |  1 |  0.01 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_FLW_QMIN** | Optical flow minimum quality threshold |  0 |  255 |  75 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_SNR_Z** | Sonar z standard deviation |  0.01 |  1 |  0.05 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_SNR_OFF_Z** | Sonar z offset from center of vehicle +down |  -1 |  1 |  0.00 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_LDR_Z** | Lidar z standard deviation |  0.01 |  1 |  0.03 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_LDR_OFF_Z** | Lidar z offset from center of vehicle +down |  -1 |  1 |  0.00 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_ACC_XY** | Accelerometer xy standard deviation |  0.00001 |  2 |  0.0454 | 
-| ::: | <​div>​Data sheet sqrt(Noise power) = 150ug/​sqrt(Hz) std dev = (150*9.8*1e-6)*sqrt(1000 Hz) m/s^2 Since accels sampled at 1000 Hz. should be 0.0464</​div>​ |||| 
-| **LPE_ACC_Z** | Accelerometer z standard deviation |  0.00001 |  2 |  0.0454 | 
-| ::: | <​div>​(see Accel x comments)</​div>​ |||| 
-| **LPE_BAR_Z** | Barometric presssure altitude z standard deviation |  0.01 |  3 |  3.0 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_GPS_ON** | Enables GPS data, also forces alt init with GPS |   ​| ​  ​| ​ 1 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_GPS_DELAY** | GPS delay compensaton |  0 |  0.4 |  0.25 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_GPS_XY** | GPS xy standard deviation |  0.01 |  5 |  2.0 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_GPS_Z** | GPS z standard deviation |  0.01 |  200 |  100.0 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_GPS_VXY** | GPS xy velocity standard deviation |  0.01 |  2 |  0.25 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_GPS_VZ** | GPS z velocity standard deviation |  0.01 |  2 |  0.25 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_EPH_MAX** | GPS max eph |  1.0 |  5.0 |  3.0 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_EPV_MAX** | GPS max epv |  1.0 |  5.0 |  5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_VIS_XY** | Vision xy standard deviation |  0.01 |  1 |  0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_VIS_Z** | Vision z standard deviation |  0.01 |  2 |  0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_VIS_ON** | Vision correction |   ​| ​  ​| ​ 1 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_VIC_P** | Vicon position standard deviation |  0.01 |  1 |  0.05 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_PN_P** | Position propagation noise density |  0 |  1 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_PN_V** | Velocity propagation noise density |  0 |  1 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_PN_B** | Accel bias propagation noise density |  0 |  1 |  1e-3 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_PN_T** | Terrain random walk noise density, hilly/​outdoor (1e-1), flat/Indoor (1e-3) |  0 |  1 |  1e-1 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_FGYRO_HP** | Flow gyro high pass filter cut off frequency |  0 |  2 |  0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_LAT** | Home latitude for nav w/o GPS |  -90 |  90 |  40.430 | 
-| ::: | <​div></​div>​ |||| 
-| **LPE_LON** | Home longitude for nav w/o GPS |  -180 |  180 |  -86.929 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== MAVLink ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **MAV_SYS_ID** | MAVLink system ID |  1 |  250 |  1 | 
-| ::: | <​div></​div>​ |||| 
-| **MAV_COMP_ID** | MAVLink component ID |  1 |  250 |  1 | 
-| ::: | <​div></​div>​ |||| 
-| **MAV_PROTO_VER** | MAVLink protocol version |   ​| ​  ​| ​ 1 | 
-| ::: | <​div></​div>​ |||| 
-| **MAV_RADIO_ID** | MAVLink Radio ID |  -1 |  240 |  0 | 
-| ::: | <​div>​When non-zero the MAVLink app will attempt to configure the radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults.</​div>​ |||| 
-| **MAV_TYPE** | MAVLink airframe type |  1 |   ​| ​ 2 | 
-| ::: | <​div></​div>​ |||| 
-| **MAV_USEHILGPS** | Use/Accept HIL GPS message even if not in HIL mode |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​If set to 1 incoming HIL GPS messages are parsed.</​div>​ |||| 
-| **MAV_FWDEXTSP** | Forward external setpoint messages |   ​| ​  ​| ​ 1 | 
-| ::: | <​div>​If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode</​div>​ |||| 
-| **MAV_BROADCAST** | Broadcast heartbeats on local network |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​This allows a ground control station to automatically find the drone on the local network.</​div>​ |||| 
-| **MAV_TEST_PAR** | Test parameter |  -1000 |  1000 |  1 | 
-| ::: | <​div>​This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level.</​div>​ |||| 
- 
-==== MKBLCTRL Testmode ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **MKBLCTRL_TEST** | Test mode (Identify) of MKBLCTRL Driver |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== MPU9x50 Configuration ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **MPU_GYRO_LPF_ENM** | Low pass filter frequency for Gyro |   ​| ​  ​| ​ 4 | 
-| ::: | <​div></​div>​ |||| 
-| **MPU_ACC_LPF_ENM** | Low pass filter frequency for Accelerometer |   ​| ​  ​| ​ 4 | 
-| ::: | <​div></​div>​ |||| 
-| **MPU_SAMPLE_R_ENM** | Sample rate in Hz |   ​| ​  ​| ​ 2 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== Mission ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **COM_OBL_ACT** | Set offboard loss failsafe mode |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.</​div>​ |||| 
-| **COM_OBL_RC_ACT** | Set offboard loss failsafe mode when RC is available |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.</​div>​ |||| 
-| **MIS_TAKEOFF_ALT** | Take-off altitude |  0 |  80 |  10.0 | 
-| ::: | <​div>​This is the minimum altitude the system will take off to.</​div>​ |||| 
-| **MIS_LTRMIN_ALT** | Minimum Loiter altitude |  0 |  80 |  1.2 | 
-| ::: | <​div>​This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.</​div>​ |||| 
-| **MIS_ONBOARD_EN** | Persistent onboard mission storage |   ​| ​  ​| ​ 1 | 
-| ::: | <​div>​When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently.</​div>​ |||| 
-| **MIS_DIST_1WP** | Maximal horizontal distance from home to first waypoint |  0 |  1000 |  900 | 
-| ::: | <​div>​Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the current position.</​div>​ |||| 
-| **MIS_ALTMODE** | Altitude setpoint mode |  0 |  1 |  1 | 
-| ::: | <​div>​0:​ the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode</​div>​ |||| 
-| **MIS_YAWMODE** | Multirotor only. Yaw setpoint mode |  0 |  3 |  1 | 
-| ::: | <​div>​The values are defined in the enum mission_altitude_mode</​div>​ |||| 
-| **MIS_YAW_TMT** | Time in seconds we wait on reaching target heading at a waypoint if it is forced |  -1 |  20 |  -1.0 | 
-| ::: | <​div>​If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transiton. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.</​div>​ |||| 
-| **MIS_YAW_ERR** | Max yaw error in degrees needed for waypoint heading acceptance |  0 |  90 |  12.0 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_WV_LND_EN** | Weather-vane mode landings for missions |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_WV_LTR_EN** | Weather-vane mode for loiter mode |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **NAV_LOITER_RAD** | Loiter radius (FW only) |  25 |  1000 |  50.0 | 
-| ::: | <​div>​Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).</​div>​ |||| 
-| **NAV_ACC_RAD** | Acceptance Radius |  0.05 |  200.0 |  10.0 | 
-| ::: | <​div>​Default acceptance radius, overridden by acceptance radius of waypoint if set.</​div>​ |||| 
-| **NAV_DLL_ACT** | Set data link loss failsafe mode |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.</​div>​ |||| 
-| **NAV_RCL_ACT** | Set RC loss failsafe mode |   ​| ​  ​| ​ 2 | 
-| ::: | <​div>​The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.</​div>​ |||| 
- 
-==== Multicopter Attitude Control ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **MC_ROLL_TC** | Roll time constant |  0.15 |  0.25 |  0.2 | 
-| ::: | <​div>​Reduce if the system is too twitchy, increase if the response is too slow and sluggish.</​div>​ |||| 
-| **MC_PITCH_TC** | Pitch time constant |  0.15 |  0.25 |  0.2 | 
-| ::: | <​div>​Reduce if the system is too twitchy, increase if the response is too slow and sluggish.</​div>​ |||| 
-| **MC_ROLL_P** | Roll P gain |  0.0 |  8 |  6.5 | 
-| ::: | <​div>​Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</​div>​ |||| 
-| **MC_ROLLRATE_P** | Roll rate P gain |  0.0 |  0.5 |  0.15 | 
-| ::: | <​div>​Roll rate proportional gain, i.e. control output for angular speed error 1 rad/​s.</​div>​ |||| 
-| **MC_ROLLRATE_I** | Roll rate I gain |  0.0 |   ​| ​ 0.05 | 
-| ::: | <​div>​Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</​div>​ |||| 
-| **MC_ROLLRATE_D** | Roll rate D gain |  0.0 |  0.01 |  0.003 | 
-| ::: | <​div>​Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</​div>​ |||| 
-| **MC_ROLLRATE_FF** | Roll rate feedforward |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div>​Improves tracking performance.</​div>​ |||| 
-| **MC_PITCH_P** | Pitch P gain |  0.0 |  10 |  6.5 | 
-| ::: | <​div>​Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</​div>​ |||| 
-| **MC_PITCHRATE_P** | Pitch rate P gain |  0.0 |  0.6 |  0.15 | 
-| ::: | <​div>​Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/​s.</​div>​ |||| 
-| **MC_PITCHRATE_I** | Pitch rate I gain |  0.0 |   ​| ​ 0.05 | 
-| ::: | <​div>​Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</​div>​ |||| 
-| **MC_PITCHRATE_D** | Pitch rate D gain |  0.0 |   ​| ​ 0.003 | 
-| ::: | <​div>​Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</​div>​ |||| 
-| **MC_PITCHRATE_FF** | Pitch rate feedforward |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div>​Improves tracking performance.</​div>​ |||| 
-| **MC_YAW_P** | Yaw P gain |  0.0 |  5 |  2.8 | 
-| ::: | <​div>​Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</​div>​ |||| 
-| **MC_YAWRATE_P** | Yaw rate P gain |  0.0 |  0.6 |  0.2 | 
-| ::: | <​div>​Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/​s.</​div>​ |||| 
-| **MC_YAWRATE_I** | Yaw rate I gain |  0.0 |   ​| ​ 0.1 | 
-| ::: | <​div>​Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</​div>​ |||| 
-| **MC_YAWRATE_D** | Yaw rate D gain |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div>​Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</​div>​ |||| 
-| **MC_YAWRATE_FF** | Yaw rate feedforward |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div>​Improves tracking performance.</​div>​ |||| 
-| **MC_YAW_FF** | Yaw feed forward |  0.0 |  1.0 |  0.5 | 
-| ::: | <​div>​Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</​div>​ |||| 
-| **MC_ROLLRATE_MAX** | Max roll rate |  0.0 |  360.0 |  220.0 | 
-| ::: | <​div>​Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</​div>​ |||| 
-| **MC_PITCHRATE_MAX** | Max pitch rate |  0.0 |  360.0 |  220.0 | 
-| ::: | <​div>​Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</​div>​ |||| 
-| **MC_YAWRATE_MAX** | Max yaw rate |  0.0 |  360.0 |  200.0 | 
-| ::: | <​div>​A value of significantly over 120 degrees per second can already lead to mixer saturation.</​div>​ |||| 
-| **MC_YAWRAUTO_MAX** | Max yaw rate in auto mode |  0.0 |  120.0 |  45.0 | 
-| ::: | <​div>​Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. A value of significantly over 60 degrees per second can already lead to mixer saturation. A value of 30 degrees / second is recommended to avoid very audible twitches.</​div>​ |||| 
-| **MC_ACRO_R_MAX** | Max acro roll rate |  0.0 |  1000.0 |  360.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MC_ACRO_P_MAX** | Max acro pitch rate |  0.0 |  1000.0 |  360.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MC_ACRO_Y_MAX** | Max acro yaw rate |  0.0 |  1000.0 |  360.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MC_RATT_TH** | Threshold for Rattitude mode |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints</​div>​ |||| 
-| **MP_ROLL_P** | Roll P gain |  0.0 |   ​| ​ 6.0 | 
-| ::: | <​div>​Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</​div>​ |||| 
-| **MP_ROLLRATE_P** | Roll rate P gain |  0.0 |   ​| ​ 0.1 | 
-| ::: | <​div>​Roll rate proportional gain, i.e. control output for angular speed error 1 rad/​s.</​div>​ |||| 
-| **MP_ROLLRATE_I** | Roll rate I gain |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div>​Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</​div>​ |||| 
-| **MP_ROLLRATE_D** | Roll rate D gain |  0.0 |   ​| ​ 0.002 | 
-| ::: | <​div>​Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</​div>​ |||| 
-| **MP_PITCH_P** | Pitch P gain |  0.0 |   ​| ​ 6.0 | 
-| ::: | <​div>​Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</​div>​ |||| 
-| **MP_PITCHRATE_P** | Pitch rate P gain |  0.0 |   ​| ​ 0.1 | 
-| ::: | <​div>​Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/​s.</​div>​ |||| 
-| **MP_PITCHRATE_I** | Pitch rate I gain |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div>​Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</​div>​ |||| 
-| **MP_PITCHRATE_D** | Pitch rate D gain |  0.0 |   ​| ​ 0.002 | 
-| ::: | <​div>​Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</​div>​ |||| 
-| **MP_YAW_P** | Yaw P gain |  0.0 |   ​| ​ 2.0 | 
-| ::: | <​div>​Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</​div>​ |||| 
-| **MP_YAWRATE_P** | Yaw rate P gain |  0.0 |   ​| ​ 0.3 | 
-| ::: | <​div>​Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/​s.</​div>​ |||| 
-| **MP_YAWRATE_I** | Yaw rate I gain |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div>​Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</​div>​ |||| 
-| **MP_YAWRATE_D** | Yaw rate D gain |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div>​Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</​div>​ |||| 
-| **MP_YAW_FF** | Yaw feed forward |  0.0 |  1.0 |  0.5 | 
-| ::: | <​div>​Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</​div>​ |||| 
-| **MP_YAWRATE_MAX** | Max yaw rate |  0.0 |  360.0 |  60.0 | 
-| ::: | <​div>​Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</​div>​ |||| 
-| **MP_ACRO_R_MAX** | Max acro roll rate |  0.0 |  360.0 |  35.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MP_ACRO_P_MAX** | Max acro pitch rate |  0.0 |  360.0 |  35.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MP_ACRO_Y_MAX** | Max acro yaw rate |  0.0 |   ​| ​ 120.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_MAN_R_MAX** | Max manual roll |  0.0 |  90.0 |  35.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_MAN_P_MAX** | Max manual pitch |  0.0 |  90.0 |  35.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_MAN_Y_MAX** | Max manual yaw rate |  0.0 |   ​| ​ 120.0 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== Multicopter Position Control ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **MPC_THR_MIN** | Minimum thrust in auto thrust control |  0.05 |  1.0 |  0.12 | 
-| ::: | <​div>​It'​s recommended to set it > 0 to avoid free fall with zero thrust.</​div>​ |||| 
-| **MPC_THR_HOVER** | Hover thrust |  0.2 |  0.8 |  0.5 | 
-| ::: | <​div>​Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to ALTCTL mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed.</​div>​ |||| 
-| **MPC_ALTCTL_DZ** | ALTCTL throttle curve breakpoint |  0.0 |  0.2 |  0.1 | 
-| ::: | <​div>​Halfwidth of deadband or reduced sensitivity center portion of curve. This is the halfwidth of the center region of the ALTCTL throttle curve. It extends from center-dz to center+dz.</​div>​ |||| 
-| **MPC_ALTCTL_DY** | ALTCTL throttle curve breakpoint height |  0.0 |  0.2 |  0.0 | 
-| ::: | <​div>​Controls the slope of the reduced sensitivity region. This is the height of the ALTCTL throttle curve at center-dz and center+dz.</​div>​ |||| 
-| **MPC_THR_MAX** | Maximum thrust in auto thrust control |  0.0 |  0.95 |  0.9 | 
-| ::: | <​div>​Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.</​div>​ |||| 
-| **MPC_MANTHR_MIN** | Minimum manual thrust |  0.0 |  1.0 |  0.08 | 
-| ::: | <​div>​Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.</​div>​ |||| 
-| **MPC_MANTHR_MAX** | Maximum manual thrust |  0.0 |  1.0 |  0.9 | 
-| ::: | <​div>​Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.</​div>​ |||| 
-| **MPC_Z_P** | Proportional gain for vertical position error |  0.0 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_Z_VEL_P** | Proportional gain for vertical velocity error |  0.1 |  0.4 |  0.2 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_Z_VEL_I** | Integral gain for vertical velocity error |  0.01 |  0.1 |  0.02 | 
-| ::: | <​div>​Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</​div>​ |||| 
-| **MPC_Z_VEL_D** | Differential gain for vertical velocity error |  0.0 |  0.1 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_Z_VEL_MAX_UP** | Maximum vertical ascent velocity |  0.5 |  8.0 |  3.0 | 
-| ::: | <​div>​Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).</​div>​ |||| 
-| **MPC_Z_VEL_MAX** | Maximum vertical descent velocity |  0.5 |  4.0 |  1.0 | 
-| ::: | <​div>​Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).</​div>​ |||| 
-| **MPC_Z_VEL_MAX_DN** | Transitional support, do not change / use |  0.5 |  4.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_Z_FF** | Vertical velocity feed forward |  0.0 |  1.0 |  0.5 | 
-| ::: | <​div>​Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</​div>​ |||| 
-| **MPC_XY_P** | Proportional gain for horizontal position error |  0.0 |  2.0 |  1.25 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_XY_VEL_P** | Proportional gain for horizontal velocity error |  0.06 |  0.15 |  0.09 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_XY_VEL_I** | Integral gain for horizontal velocity error |  0.0 |  0.1 |  0.02 | 
-| ::: | <​div>​Non-zero value allows to resist wind.</​div>​ |||| 
-| **MPC_XY_VEL_D** | Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again |  0.005 |  0.1 |  0.01 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_XY_CRUISE** | Nominal horizontal velocity |  3.0 |  20.0 |  5.0 | 
-| ::: | <​div>​Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL).</​div>​ |||| 
-| **MPC_XY_VEL_MAX** | Maximum horizontal velocity |  0.0 |  20.0 |  8.0 | 
-| ::: | <​div>​Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.</​div>​ |||| 
-| **MPC_XY_FF** | Horizontal velocity feed forward |  0.0 |  1.0 |  0.5 | 
-| ::: | <​div>​Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</​div>​ |||| 
-| **MPC_TILTMAX_AIR** | Maximum tilt angle in air |  0.0 |  90.0 |  45.0 | 
-| ::: | <​div>​Limits maximum tilt in AUTO and POSCTRL modes during flight.</​div>​ |||| 
-| **MPC_TILTMAX_LND** | Maximum tilt during landing |  0.0 |  90.0 |  12.0 | 
-| ::: | <​div>​Limits maximum tilt angle on landing.</​div>​ |||| 
-| **MPC_LAND_SPEED** | Landing descend rate |  0.2 |   ​| ​ 0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_TKO_SPEED** | Takeoff climb rate |  1 |  5 |  1.5 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_MAN_R_MAX** | Max manual roll |  0.0 |  90.0 |  35.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_MAN_P_MAX** | Max manual pitch |  0.0 |  90.0 |  35.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_MAN_Y_MAX** | Max manual yaw rate |  0.0 |  400 |  200.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_HOLD_XY_DZ** | Deadzone of X,Y sticks where position hold is enabled |  0.0 |  1.0 |  0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_HOLD_MAX_XY** | Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) |  0.0 |  3.0 |  0.8 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_HOLD_MAX_Z** | Maximum vertical velocity for which position hold is enabled (use 0 to disable check) |  0.0 |  3.0 |  0.6 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_VELD_LP** | Low pass filter cut freq. for numerical velocity derivative |  0.0 |  10 |  5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_ACC_HOR_MAX** | Maximum horizonal acceleration in velocity controlled modes |  2.0 |  15.0 |  10.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPC_ALT_MODE** | Altitude control mode, note mode 1 only tested with LPE |  0 |  1 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_THR_MIN** | Minimum thrust |  0.0 |  1.0 |  0.1 | 
-| ::: | <​div>​Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.</​div>​ |||| 
-| **MPP_THR_MAX** | Maximum thrust |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Limit max allowed thrust.</​div>​ |||| 
-| **MPP_Z_P** | Proportional gain for vertical position error |  0.0 |   ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_Z_VEL_P** | Proportional gain for vertical velocity error |  0.0 |   ​| ​ 0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_Z_VEL_I** | Integral gain for vertical velocity error |  0.0 |   ​| ​ 0.02 | 
-| ::: | <​div>​Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</​div>​ |||| 
-| **MPP_Z_VEL_D** | Differential gain for vertical velocity error |  0.0 |   ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_Z_VEL_MAX** | Maximum vertical velocity |  0.0 |   ​| ​ 5.0 | 
-| ::: | <​div>​Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL).</​div>​ |||| 
-| **MPP_Z_FF** | Vertical velocity feed forward |  0.0 |  1.0 |  0.5 | 
-| ::: | <​div>​Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</​div>​ |||| 
-| **MPP_XY_P** | Proportional gain for horizontal position error |  0.0 |   ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_XY_VEL_P** | Proportional gain for horizontal velocity error |  0.0 |   ​| ​ 0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_XY_VEL_I** | Integral gain for horizontal velocity error |  0.0 |   ​| ​ 0.02 | 
-| ::: | <​div>​Non-zero value allows to resist wind.</​div>​ |||| 
-| **MPP_XY_VEL_D** | Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again |  0.0 |   ​| ​ 0.01 | 
-| ::: | <​div></​div>​ |||| 
-| **MPP_XY_VEL_MAX** | Maximum horizontal velocity |  0.0 |   ​| ​ 5.0 | 
-| ::: | <​div>​Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).</​div>​ |||| 
-| **MPP_XY_FF** | Horizontal velocity feed forward |  0.0 |  1.0 |  0.5 | 
-| ::: | <​div>​Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</​div>​ |||| 
-| **MPP_TILTMAX_AIR** | Maximum tilt angle in air |  0.0 |  90.0 |  45.0 | 
-| ::: | <​div>​Limits maximum tilt in AUTO and POSCTRL modes during flight.</​div>​ |||| 
-| **MPP_TILTMAX_LND** | Maximum tilt during landing |  0.0 |  90.0 |  15.0 | 
-| ::: | <​div>​Limits maximum tilt angle on landing.</​div>​ |||| 
-| **MPP_LAND_SPEED** | Landing descend rate |  0.0 |   ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== PWM Outputs ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **PWM_AUX_REV1** | Invert direction of aux output channel 1 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_AUX_REV2** | Invert direction of aux output channel 2 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_AUX_REV3** | Invert direction of aux output channel 3 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_AUX_REV4** | Invert direction of aux output channel 4 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_AUX_REV5** | Invert direction of aux output channel 5 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_AUX_REV6** | Invert direction of aux output channel 6 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_MAIN_REV1** | Invert direction of main output channel 1 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_MAIN_REV2** | Invert direction of main output channel 2 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_MAIN_REV3** | Invert direction of main output channel 3 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_MAIN_REV4** | Invert direction of main output channel 4 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_MAIN_REV5** | Invert direction of main output channel 5 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_MAIN_REV6** | Invert direction of main output channel 6 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_MAIN_REV7** | Invert direction of main output channel 7 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_MAIN_REV8** | Invert direction of main output channel 8 |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to invert the channel, 0 for default direction.</​div>​ |||| 
-| **PWM_SBUS_MODE** | S.BUS out |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 1 to enable S.BUS version 1 output instead of RSSI.</​div>​ |||| 
-| **PWM_MIN** | Set the minimum PWM for the MAIN outputs |  800 |  1400 |  1000 | 
-| ::: | <​div>​IMPORTANT:​ CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for industry default or 900 to increase servo travel.</​div>​ |||| 
-| **PWM_MAX** | Set the maximum PWM for the MAIN outputs |  1600 |  2200 |  2000 | 
-| ::: | <​div>​IMPORTANT:​ CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for industry default or 2100 to increase servo travel.</​div>​ |||| 
-| **PWM_DISARMED** | Set the disarmed PWM for MAIN outputs |  0 |  2200 |  0 | 
-| ::: | <​div>​IMPORTANT:​ CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.</​div>​ |||| 
-| **PWM_AUX_MIN** | Set the minimum PWM for the MAIN outputs |  800 |  1400 |  1000 | 
-| ::: | <​div>​IMPORTANT:​ CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for default or 900 to increase servo travel</​div>​ |||| 
-| **PWM_AUX_MAX** | Set the maximum PWM for the MAIN outputs |  1600 |  2200 |  2000 | 
-| ::: | <​div>​IMPORTANT:​ CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for default or 2100 to increase servo travel</​div>​ |||| 
-| **PWM_AUX_DISARMED** | Set the disarmed PWM for AUX outputs |  0 |  2200 |  1000 | 
-| ::: | <​div>​IMPORTANT:​ CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.</​div>​ |||| 
- 
-==== Payload drop ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **BD_GPROPERTIES** | Ground drag property |  0.001 |  0.1 |  0.03 | 
-| ::: | <​div>​This parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude.</​div>​ |||| 
-| **BD_TURNRADIUS** | Plane turn radius |  30.0 |  500.0 |  120.0 | 
-| ::: | <​div>​The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop.</​div>​ |||| 
-| **BD_PRECISION** | Drop precision |  1.0 |  80.0 |  30.0 | 
-| ::: | <​div>​If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy.</​div>​ |||| 
-| **BD_OBJ_CD** | Payload drag coefficient of the dropped object |  0.08 |  1.5 |  0.1 | 
-| ::: | <​div>​The drag coefficient (cd) is the typical drag constant for air. It is in general object specific, but the closest primitive shape to the actual object should give good results: http://​en.wikipedia.org/​wiki/​Drag_coefficient</​div>​ |||| 
-| **BD_OBJ_MASS** | Payload mass |  0.001 |  5.0 |  0.6 | 
-| ::: | <​div>​A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg</​div>​ |||| 
-| **BD_OBJ_SURFACE** | Payload front surface area |  0.001 |  0.5 |  0.00311724531 | 
-| ::: | <​div>​A typical small toy ball: (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 OBC water bottle: (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2</​div>​ |||| 
- 
-==== Position Estimator ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **PE_VEL_DELAY_MS** | Velocity estimate delay |  0 |  1000 |  230 | 
-| ::: | <​div>​The delay in milliseconds of the velocity estimate from GPS.</​div>​ |||| 
-| **PE_POS_DELAY_MS** | Position estimate delay |  0 |  1000 |  210 | 
-| ::: | <​div>​The delay in milliseconds of the position estimate from GPS.</​div>​ |||| 
-| **PE_HGT_DELAY_MS** | Height estimate delay |  0 |  1000 |  350 | 
-| ::: | <​div>​The delay in milliseconds of the height estimate from the barometer.</​div>​ |||| 
-| **PE_MAG_DELAY_MS** | Mag estimate delay |  0 |  1000 |  30 | 
-| ::: | <​div>​The delay in milliseconds of the magnetic field estimate from the magnetometer.</​div>​ |||| 
-| **PE_TAS_DELAY_MS** | True airspeeed estimate delay |  0 |  1000 |  210 | 
-| ::: | <​div>​The delay in milliseconds of the airspeed estimate.</​div>​ |||| 
-| **PE_GPS_ALT_WGT** | GPS vs. barometric altitude update weight |  0.0 |  1.0 |  0.9 | 
-| ::: | <​div>​RE-CHECK this.</​div>​ |||| 
-| **PE_EAS_NOISE** | Airspeed measurement noise |  0.5 |  5.0 |  1.4 | 
-| ::: | <​div>​Increasing this value will make the filter trust this sensor less and trust other sensors more.</​div>​ |||| 
-| **PE_VELNE_NOISE** | Velocity measurement noise in north-east (horizontal) direction |  0.05 |  5.0 |  0.3 | 
-| ::: | <​div>​Generic default: 0.3, multicopters:​ 0.5, ground vehicles: 0.5</​div>​ |||| 
-| **PE_VELD_NOISE** | Velocity noise in down (vertical) direction |  0.2 |  3.0 |  0.3 | 
-| ::: | <​div>​Generic default: 0.3, multicopters:​ 0.4, ground vehicles: 0.7</​div>​ |||| 
-| **PE_POSNE_NOISE** | Position noise in north-east (horizontal) direction |  0.1 |  10.0 |  0.5 | 
-| ::: | <​div>​Generic defaults: 0.5, multicopters:​ 0.5, ground vehicles: 0.5</​div>​ |||| 
-| **PE_POSD_NOISE** | Position noise in down (vertical) direction |  0.5 |  3.0 |  1.25 | 
-| ::: | <​div>​Generic defaults: 1.25, multicopters:​ 1.0, ground vehicles: 1.0</​div>​ |||| 
-| **PE_MAG_NOISE** | Magnetometer measurement noise |  0.01 |  1.0 |  0.05 | 
-| ::: | <​div>​Generic defaults: 0.05, multicopters:​ 0.05, ground vehicles: 0.05</​div>​ |||| 
-| **PE_GYRO_PNOISE** | Gyro process noise |  0.001 |  0.05 |  0.015 | 
-| ::: | <​div>​Generic defaults: 0.015, multicopters:​ 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more.</​div>​ |||| 
-| **PE_ACC_PNOISE** | Accelerometer process noise |  0.05 |  1.0 |  0.125 | 
-| ::: | <​div>​Generic defaults: 0.25, multicopters:​ 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more.</​div>​ |||| 
-| **PE_GBIAS_PNOISE** | Gyro bias estimate process noise |  0.00000005 |  0.00001 |  1e-07 | 
-| ::: | <​div>​Generic defaults: 1e-07f, multicopters:​ 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier.</​div>​ |||| 
-| **PE_ABIAS_PNOISE** | Accelerometer bias estimate process noise |  0.00001 |  0.001 |  1e-05 | 
-| ::: | <​div>​Generic defaults: 0.00001f, multicopters:​ 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier.</​div>​ |||| 
-| **PE_MAGE_PNOISE** | Magnetometer earth frame offsets process noise |  0.0001 |  0.01 |  0.0003 | 
-| ::: | <​div>​Generic defaults: 0.0001, multicopters:​ 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier.</​div>​ |||| 
-| **PE_MAGB_PNOISE** | Magnetometer body frame offsets process noise |  0.0001 |  0.01 |  0.0003 | 
-| ::: | <​div>​Generic defaults: 0.0003, multicopters:​ 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier.</​div>​ |||| 
-| **PE_MAGB_X** | Magnetometer X bias |  -0.6 |  0.6 |  0.0 | 
-| ::: | <​div>​The magnetometer bias. This bias is learnt by the filter over time and persists between boots.</​div>​ |||| 
-| **PE_MAGB_Y** | Magnetometer Y bias |  -0.6 |  0.6 |  0.0 | 
-| ::: | <​div>​The magnetometer bias. This bias is learnt by the filter over time and persists between boots.</​div>​ |||| 
-| **PE_MAGB_Z** | Magnetometer Z bias |  -0.6 |  0.6 |  0.0 | 
-| ::: | <​div>​The magnetometer bias. This bias is learnt by the filter over time and persists between boots.</​div>​ |||| 
-| **PE_POSDEV_INIT** | Threshold for filter initialization |  0.3 |  10.0 |  5.0 | 
-| ::: | <​div>​If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize.</​div>​ |||| 
- 
-==== Position Estimator INAV ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **INAV_W_Z_BARO** | Z axis weight for barometer |  0.0 |  10.0 |  0.5 | 
-| ::: | <​div>​Weight (cutoff frequency) for barometer altitude measurements.</​div>​ |||| 
-| **INAV_W_Z_GPS_P** | Z axis weight for GPS |  0.0 |  10.0 |  0.005 | 
-| ::: | <​div>​Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.</​div>​ |||| 
-| **INAV_W_Z_GPS_V** | Z velocity weight for GPS |  0.0 |  10.0 |  0.0 | 
-| ::: | <​div>​Weight (cutoff frequency) for GPS altitude velocity measurements.</​div>​ |||| 
-| **INAV_W_Z_VIS_P** | Z axis weight for vision |  0.0 |  10.0 |  5.0 | 
-| ::: | <​div>​Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.</​div>​ |||| 
-| **INAV_W_Z_LIDAR** | Z axis weight for lidar |  0.0 |  10.0 |  3.0 | 
-| ::: | <​div>​Weight (cutoff frequency) for lidar measurements.</​div>​ |||| 
-| **INAV_W_XY_GPS_P** | XY axis weight for GPS position |  0.0 |  10.0 |  1.0 | 
-| ::: | <​div>​Weight (cutoff frequency) for GPS position measurements.</​div>​ |||| 
-| **INAV_W_XY_GPS_V** | XY axis weight for GPS velocity |  0.0 |  10.0 |  2.0 | 
-| ::: | <​div>​Weight (cutoff frequency) for GPS velocity measurements.</​div>​ |||| 
-| **INAV_W_XY_VIS_P** | XY axis weight for vision position |  0.0 |  10.0 |  7.0 | 
-| ::: | <​div>​Weight (cutoff frequency) for vision position measurements.</​div>​ |||| 
-| **INAV_W_XY_VIS_V** | XY axis weight for vision velocity |  0.0 |  10.0 |  0.0 | 
-| ::: | <​div>​Weight (cutoff frequency) for vision velocity measurements.</​div>​ |||| 
-| **INAV_W_MOC_P** | Weight for mocap system |  0.0 |  10.0 |  10.0 | 
-| ::: | <​div>​Weight (cutoff frequency) for mocap position measurements.</​div>​ |||| 
-| **INAV_W_XY_FLOW** | XY axis weight for optical flow |  0.0 |  10.0 |  0.8 | 
-| ::: | <​div>​Weight (cutoff frequency) for optical flow (velocity) measurements.</​div>​ |||| 
-| **INAV_W_XY_RES_V** | XY axis weight for resetting velocity |  0.0 |  10.0 |  0.5 | 
-| ::: | <​div>​When velocity sources lost slowly decrease estimated horizontal velocity with this weight.</​div>​ |||| 
-| **INAV_W_GPS_FLOW** | XY axis weight factor for GPS when optical flow available |  0.0 |  1.0 |  0.1 | 
-| ::: | <​div>​When optical flow data available, multiply GPS weights (for position and velocity) by this factor.</​div>​ |||| 
-| **INAV_W_ACC_BIAS** | Accelerometer bias estimation weight |  0.0 |  0.1 |  0.05 | 
-| ::: | <​div>​Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.</​div>​ |||| 
-| **INAV_FLOW_K** | Optical flow scale factor |  0.0 |  10.0 |  1.35 | 
-| ::: | <​div>​Factor to scale optical flow</​div>​ |||| 
-| **INAV_FLOW_Q_MIN** | Minimal acceptable optical flow quality |  0.0 |  1.0 |  0.3 | 
-| ::: | <​div>​0 - lowest quality, 1 - best quality.</​div>​ |||| 
-| **INAV_LIDAR_ERR** | Sonar maximal error for new surface |  0.0 |  1.0 |  0.2 | 
-| ::: | <​div>​If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).</​div>​ |||| 
-| **INAV_LAND_T** | Land detector time |  0.0 |  10.0 |  3.0 | 
-| ::: | <​div>​Vehicle assumed landed if no altitude changes happened during this time on low throttle.</​div>​ |||| 
-| **INAV_LAND_DISP** | Land detector altitude dispersion threshold |  0.0 |  10.0 |  0.7 | 
-| ::: | <​div>​Dispersion threshold for triggering land detector.</​div>​ |||| 
-| **INAV_LAND_THR** | Land detector throttle threshold |  0.0 |  1.0 |  0.2 | 
-| ::: | <​div>​Value should be lower than minimal hovering thrust. Half of it is good choice.</​div>​ |||| 
-| **INAV_DELAY_GPS** | GPS delay |  0.0 |  1.0 |  0.2 | 
-| ::: | <​div>​GPS delay compensation</​div>​ |||| 
-| **INAV_FLOW_DIST_X** | Flow module offset (center of rotation) in X direction |  -1.0 |  1.0 |  0.0 | 
-| ::: | <​div>​Yaw X flow compensation</​div>​ |||| 
-| **INAV_FLOW_DIST_Y** | Flow module offset (center of rotation) in Y direction |  -1.0 |  1.0 |  0.0 | 
-| ::: | <​div>​Yaw Y flow compensation</​div>​ |||| 
-| **INAV_DISAB_MOCAP** | Mo-cap |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Set to 0 if using fake GPS</​div>​ |||| 
-| **INAV_LIDAR_EST** | LIDAR for altitude estimation |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **INAV_LIDAR_OFF** | LIDAR calibration offset |  -20 |  20 |  0.0 | 
-| ::: | <​div>​LIDAR calibration offset. Value will be added to the measured distance</​div>​ |||| 
-| **CBRK_NO_VISION** | Disable vision input |  0 |  328754 |  0 | 
-| ::: | <​div>​Set to the appropriate key (328754) to disable vision input.</​div>​ |||| 
- 
-==== RC Receiver Configuration ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **RC_RECEIVER_TYPE** | RC receiver type |   ​| ​  ​| ​ 1 | 
-| ::: | <​div>​Acceptable values: - RC_RECEIVER_SPEKTRUM = 1, - RC_RECEIVER_LEMONRX = 2,</​div>​ |||| 
- 
-==== Radio Calibration ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **TRIM_ROLL** | Roll trim |  -0.25 |  0.25 |  0.0 | 
-| ::: | <​div>​The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.</​div>​ |||| 
-| **TRIM_PITCH** | Pitch trim |  -0.25 |  0.25 |  0.0 | 
-| ::: | <​div>​The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.</​div>​ |||| 
-| **TRIM_YAW** | Yaw trim |  -0.25 |  0.25 |  0.0 | 
-| ::: | <​div>​The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.</​div>​ |||| 
-| **RC1_MIN** | RC Channel 1 Minimum |  800.0 |  1500.0 |  1000.0 | 
-| ::: | <​div>​Minimum value for RC channel 1</​div>​ |||| 
-| **RC1_TRIM** | RC Channel 1 Trim |  800.0 |  2200.0 |  1500.0 | 
-| ::: | <​div>​Mid point value (same as min for throttle)</​div>​ |||| 
-| **RC1_MAX** | RC Channel 1 Maximum |  1500.0 |  2200.0 |  2000.0 | 
-| ::: | <​div>​Maximum value for RC channel 1</​div>​ |||| 
-| **RC1_REV** | RC Channel 1 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC1_DZ** | RC Channel 1 dead zone |  0.0 |  100.0 |  10.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC2_MIN** | RC Channel 2 Minimum |  800.0 |  1500.0 |  1000.0 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC2_TRIM** | RC Channel 2 Trim |  800.0 |  2200.0 |  1500.0 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC2_MAX** | RC Channel 2 Maximum |  1500.0 |  2200.0 |  2000.0 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC2_REV** | RC Channel 2 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC2_DZ** | RC Channel 2 dead zone |  0.0 |  100.0 |  10.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC3_MIN** | RC Channel 3 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC3_TRIM** | RC Channel 3 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC3_MAX** | RC Channel 3 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC3_REV** | RC Channel 3 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC3_DZ** | RC Channel 3 dead zone |  0.0 |  100.0 |  10.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC4_MIN** | RC Channel 4 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC4_TRIM** | RC Channel 4 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC4_MAX** | RC Channel 4 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC4_REV** | RC Channel 4 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC4_DZ** | RC Channel 4 dead zone |  0.0 |  100.0 |  10.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC5_MIN** | RC Channel 5 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC5_TRIM** | RC Channel 5 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC5_MAX** | RC Channel 5 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC5_REV** | RC Channel 5 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC5_DZ** | RC Channel 5 dead zone |  0.0 |  100.0 |  10.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC6_MIN** | RC Channel 6 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC6_TRIM** | RC Channel 6 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC6_MAX** | RC Channel 6 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC6_REV** | RC Channel 6 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC6_DZ** | RC Channel 6 dead zone |  0.0 |  100.0 |  10.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC7_MIN** | RC Channel 7 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC7_TRIM** | RC Channel 7 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC7_MAX** | RC Channel 7 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC7_REV** | RC Channel 7 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC7_DZ** | RC Channel 7 dead zone |  0.0 |  100.0 |  10.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC8_MIN** | RC Channel 8 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC8_TRIM** | RC Channel 8 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC8_MAX** | RC Channel 8 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC8_REV** | RC Channel 8 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC8_DZ** | RC Channel 8 dead zone |  0.0 |  100.0 |  10.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC9_MIN** | RC Channel 9 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC9_TRIM** | RC Channel 9 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC9_MAX** | RC Channel 9 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC9_REV** | RC Channel 9 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC9_DZ** | RC Channel 9 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC10_MIN** | RC Channel 10 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC10_TRIM** | RC Channel 10 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC10_MAX** | RC Channel 10 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC10_REV** | RC Channel 10 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC10_DZ** | RC Channel 10 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC11_MIN** | RC Channel 11 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC11_TRIM** | RC Channel 11 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC11_MAX** | RC Channel 11 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC11_REV** | RC Channel 11 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC11_DZ** | RC Channel 11 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC12_MIN** | RC Channel 12 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC12_TRIM** | RC Channel 12 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC12_MAX** | RC Channel 12 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC12_REV** | RC Channel 12 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC12_DZ** | RC Channel 12 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC13_MIN** | RC Channel 13 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC13_TRIM** | RC Channel 13 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC13_MAX** | RC Channel 13 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC13_REV** | RC Channel 13 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC13_DZ** | RC Channel 13 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC14_MIN** | RC Channel 14 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC14_TRIM** | RC Channel 14 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC14_MAX** | RC Channel 14 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC14_REV** | RC Channel 14 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC14_DZ** | RC Channel 14 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC15_MIN** | RC Channel 15 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC15_TRIM** | RC Channel 15 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC15_MAX** | RC Channel 15 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC15_REV** | RC Channel 15 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC15_DZ** | RC Channel 15 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC16_MIN** | RC Channel 16 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC16_TRIM** | RC Channel 16 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC16_MAX** | RC Channel 16 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC16_REV** | RC Channel 16 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC16_DZ** | RC Channel 16 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC17_MIN** | RC Channel 17 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC17_TRIM** | RC Channel 17 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC17_MAX** | RC Channel 17 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC17_REV** | RC Channel 17 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC17_DZ** | RC Channel 17 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC18_MIN** | RC Channel 18 Minimum |  800.0 |  1500.0 |  1000 | 
-| ::: | <​div>​Minimum value for this channel.</​div>​ |||| 
-| **RC18_TRIM** | RC Channel 18 Trim |  800.0 |  2200.0 |  1500 | 
-| ::: | <​div>​Mid point value (has to be set to the same as min for throttle channel).</​div>​ |||| 
-| **RC18_MAX** | RC Channel 18 Maximum |  1500.0 |  2200.0 |  2000 | 
-| ::: | <​div>​Maximum value for this channel.</​div>​ |||| 
-| **RC18_REV** | RC Channel 18 Reverse |  -1.0 |  1.0 |  1.0 | 
-| ::: | <​div>​Set to -1 to reverse channel.</​div>​ |||| 
-| **RC18_DZ** | RC Channel 18 dead zone |  0.0 |  100.0 |  0.0 | 
-| ::: | <​div>​The +- range of this value around the trim value will be considered as zero.</​div>​ |||| 
-| **RC_RL1_DSM_VCC** | Relay control of relay 1 mapped to the Spektrum receiver power supply |  0 |  1 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_DSM_BIND** | DSM binding trigger |  -1 |  1 |  -1 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_CHAN_CNT** | RC channel count |  0 |  18 |  0 | 
-| ::: | <​div>​This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.</​div>​ |||| 
-| **RC_TH_USER** | RC mode switch threshold automatic distribution |   ​| ​  ​| ​ 1 | 
-| ::: | <​div>​This parameter is used by Ground Station software to specify whether the threshold values for flight mode switches were automatically calculated. 0 indicates that the threshold values were set by the user. Any other value indicates that the threshold value where automatically set by the ground station software. It is only meant for ground station use.</​div>​ |||| 
-| **RC_MAP_ROLL** | Roll control channel mapping |  0 |  18 |  0 | 
-| ::: | <​div>​The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.</​div>​ |||| 
-| **RC_MAP_PITCH** | Pitch control channel mapping |  0 |  18 |  0 | 
-| ::: | <​div>​The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.</​div>​ |||| 
-| **RC_MAP_THROTTLE** | Throttle control channel mapping |  0 |  18 |  0 | 
-| ::: | <​div>​The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.</​div>​ |||| 
-| **RC_MAP_YAW** | Yaw control channel mapping |  0 |  18 |  0 | 
-| ::: | <​div>​The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.</​div>​ |||| 
-| **RC_MAP_AUX1** | AUX1 Passthrough RC Channel |  0 |  18 |  0 | 
-| ::: | <​div>​Default function: Camera pitch</​div>​ |||| 
-| **RC_MAP_AUX2** | AUX2 Passthrough RC Channel |  0 |  18 |  0 | 
-| ::: | <​div>​Default function: Camera roll</​div>​ |||| 
-| **RC_MAP_AUX3** | AUX3 Passthrough RC Channel |  0 |  18 |  0 | 
-| ::: | <​div>​Default function: Camera azimuth / yaw</​div>​ |||| 
-| **RC_MAP_AUX4** | AUX4 Passthrough RC Channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_AUX5** | AUX5 Passthrough RC Channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_PARAM1** | PARAM1 tuning channel |  0 |  18 |  0 | 
-| ::: | <​div>​Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *</​div>​ |||| 
-| **RC_MAP_PARAM2** | PARAM2 tuning channel |  0 |  18 |  0 | 
-| ::: | <​div>​Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *</​div>​ |||| 
-| **RC_MAP_PARAM3** | PARAM3 tuning channel |  0 |  18 |  0 | 
-| ::: | <​div>​Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *</​div>​ |||| 
-| **RC_FAILS_THR** | Failsafe channel PWM threshold |  0 |  2200 |  0 | 
-| ::: | <​div>​Set to a value slightly above the PWM value assumed by throttle in a failsafe event, but ensure it is below the PWM value assumed by throttle during normal operation.</​div>​ |||| 
-| **RC_RSSI_PWM_CHAN** | PWM input channel that provides RSSI |  0 |  18 |  0 | 
-| ::: | <​div>​0:​ do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.</​div>​ |||| 
-| **RC_RSSI_PWM_MAX** | Max input value for RSSI reading |  0 |  2000 |  1000 | 
-| ::: | <​div>​Only used if RC_RSSI_PWM_CHAN > 0</​div>​ |||| 
-| **RC_RSSI_PWM_MIN** | Min input value for RSSI reading |  0 |  2000 |  2000 | 
-| ::: | <​div>​Only used if RC_RSSI_PWM_CHAN > 0</​div>​ |||| 
- 
-==== Radio Signal Loss ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **NAV_RCL_LT** | Loiter Time |  -1.0 |   ​| ​ 120.0 | 
-| ::: | <​div>​The amount of time in seconds the system should loiter at current position before termination Set to -1 to make the system skip loitering</​div>​ |||| 
- 
-==== Radio Switches ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **RC_MAP_FLTMODE** | Single channel flight mode selection |  0 |  18 |  0 | 
-| ::: | <​div>​If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.</​div>​ |||| 
-| **RC_MAP_MODE_SW** | Mode switch channel mapping |  0 |  18 |  0 | 
-| ::: | <​div>​This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.</​div>​ |||| 
-| **RC_MAP_RETURN_SW** | Return switch channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_RATT_SW** | Rattitude switch channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_POSCTL_SW** | Position Control switch channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_LOITER_SW** | Loiter switch channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_ACRO_SW** | Acro switch channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_OFFB_SW** | Offboard switch channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_KILL_SW** | Kill switch channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_FLAPS** | Flaps channel |  0 |  18 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_ASSIST_TH** | Threshold for selecting assist mode |  -1 |  1 |  0.25 | 
-| ::: | <​div>​0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>​th negative : true when channel<​th</​div>​ |||| 
-| **RC_AUTO_TH** | Threshold for selecting auto mode |  -1 |  1 |  0.75 | 
-| ::: | <​div>​0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>​th negative : true when channel<​th</​div>​ |||| 
-| **RC_RATT_TH** | Threshold for selecting rattitude mode |  -1 |  1 |  0.5 | 
-| ::: | <​div>​0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>​th negative : true when channel<​th</​div>​ |||| 
-| **RC_POSCTL_TH** | Threshold for selecting posctl mode |  -1 |  1 |  0.5 | 
-| ::: | <​div>​0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>​th negative : true when channel<​th</​div>​ |||| 
-| **RC_RETURN_TH** | Threshold for selecting return to launch mode |  -1 |  1 |  0.5 | 
-| ::: | <​div>​0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>​th negative : true when channel<​th</​div>​ |||| 
-| **RC_LOITER_TH** | Threshold for selecting loiter mode |  -1 |  1 |  0.5 | 
-| ::: | <​div>​0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>​th negative : true when channel<​th</​div>​ |||| 
-| **RC_ACRO_TH** | Threshold for selecting acro mode |  -1 |  1 |  0.5 | 
-| ::: | <​div>​0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>​th negative : true when channel<​th</​div>​ |||| 
-| **RC_OFFB_TH** | Threshold for selecting offboard mode |  -1 |  1 |  0.5 | 
-| ::: | <​div>​0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>​th negative : true when channel<​th</​div>​ |||| 
-| **RC_KILLSWITCH_TH** | Threshold for the kill switch |  -1 |  1 |  0.25 | 
-| ::: | <​div>​0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>​th negative : true when channel<​th</​div>​ |||| 
- 
-==== Return To Land ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **RTL_RETURN_ALT** | RTL altitude |  0 |  150 |  60 | 
-| ::: | <​div>​Altitude to fly back in RTL in meters</​div>​ |||| 
-| **RTL_DESCEND_ALT** | RTL loiter altitude |  2 |  100 |  30 | 
-| ::: | <​div>​Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.</​div>​ |||| 
-| **RTL_LAND_DELAY** | RTL delay |  -1 |  300 |  -1.0 | 
-| ::: | <​div>​Delay after descend before landing in RTL mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.</​div>​ |||| 
-| **RTL_MIN_DIST** | Minimum distance to trigger rising to a safe altitude |  0.5 |  20 |  5.0 | 
-| ::: | <​div>​If the system is horizontally closer than this distance to home it will land straight on home instead of raising to the return altitude first.</​div>​ |||| 
- 
-==== Runway Takeoff ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **RWTO_TKOFF** | Runway takeoff with landing gear |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **RWTO_HDG** | Specifies which heading should be held during runnway takeoff |  0 |  1 |  0 | 
-| ::: | <​div>​0:​ airframe heading, 1: heading towards takeoff waypoint</​div>​ |||| 
-| **RWTO_NAV_ALT** | Altitude AGL at which we have enough ground clearance to allow some roll. Until RWTO_NAV_ALT is reached the plane is held level and only rudder is used to keep the heading (see RWTO_HDG). This should be below FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0 |  0.0 |  100.0 |  5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **RWTO_MAX_THR** | Max throttle during runway takeoff. (Can be used to test taxi on runway) |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **RWTO_PSP** | Pitch setpoint during taxi / before takeoff airspeed is reached. A taildragger with stearable wheel might need to pitch up a little to keep it's wheel on the ground before airspeed to takeoff is reached |  0.0 |  20.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **RWTO_MAX_PITCH** | Max pitch during takeoff. Fixed-wing settings are used if set to 0. Note that there is also a minimum pitch of 10 degrees during takeoff, so this must be larger if set |  0.0 |  60.0 |  20.0 | 
-| ::: | <​div></​div>​ |||| 
-| **RWTO_MAX_ROLL** | Max roll during climbout. Roll is limited during climbout to ensure enough lift and prevents aggressive navigation before we're on a safe height |  0.0 |  60.0 |  25.0 | 
-| ::: | <​div></​div>​ |||| 
-| **RWTO_AIRSPD_SCL** | Min. airspeed scaling factor for takeoff. Pitch up will be commanded when the following airspeed is reached: FW_AIRSPD_MIN * RWTO_AIRSPD_SCL |  0.0 |  2.0 |  1.3 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== SD Logging ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **SDLOG_UTC_OFFSET** | UTC offset (unit: min) |  -1000 |  1000 |  0 | 
-| ::: | <​div>​the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:​00),​ UTC offset is 540 min (9*60) refer to https://​en.wikipedia.org/​wiki/​List_of_UTC_time_offsets</​div>​ |||| 
-| **SDLOG_RATE** | Logging rate |  -1 |  250 |  -1 | 
-| ::: | <​div>​A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming).</​div>​ |||| 
-| **SDLOG_EXT** | Extended logging mode |  -1 |  1 |  -1 | 
-| ::: | <​div>​A value of -1 indicates the command line argument should be obeyed. A value of 0 disables extended logging mode, a value of 1 enables it. This parameter is only read out before logging starts (which commonly is before arming).</​div>​ |||| 
-| **SDLOG_GPSTIME** | Use timestamps only if GPS 3D fix is available |   ​| ​  ​| ​ 1 | 
-| ::: | <​div>​Constrain the log folder creation to only use the time stamp if a 3D GPS lock is present.</​div>​ |||| 
-| **SDLOG_PRIO_BOOST** | Give logging app higher thread priority to avoid data loss. This is used for gathering replay logs for the ekf2 module |  0 |  3 |  2 | 
-| ::: | <​div>​A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority.</​div>​ |||| 
- 
-==== Sensor Calibration ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **CAL_BOARD_ID** | ID of the board this parameter set was calibrated on |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO0_ID** | ID of the Gyro that the calibration is for |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO0_XOFF** | Gyro X-axis offset |  -10.0 |  10.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO0_YOFF** | Gyro Y-axis offset |  -10.0 |  10.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO0_ZOFF** | Gyro Z-axis offset |  -5.0 |  5.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO0_XSCALE** | Gyro X-axis scaling factor |  -1.5 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO0_YSCALE** | Gyro Y-axis scaling factor |  -1.5 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO0_ZSCALE** | Gyro Z-axis scaling factor |  -1.5 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG0_ID** | ID of Magnetometer the calibration is for |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG0_ROT** | Rotation of magnetometer 0 relative to airframe |  -1 |  30 |  -1 | 
-| ::: | <​div>​An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</​div>​ |||| 
-| **CAL_MAG0_XOFF** | Magnetometer X-axis offset |  -500.0 |  500.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG0_YOFF** | Magnetometer Y-axis offset |  -500.0 |  500.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG0_ZOFF** | Magnetometer Z-axis offset |  -500.0 |  500.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG0_XSCALE** | Magnetometer X-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG0_YSCALE** | Magnetometer Y-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG0_ZSCALE** | Magnetometer Z-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC0_ID** | ID of the Accelerometer that the calibration is for |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC0_XOFF** | Accelerometer X-axis offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC0_YOFF** | Accelerometer Y-axis offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC0_ZOFF** | Accelerometer Z-axis offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC0_XSCALE** | Accelerometer X-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC0_YSCALE** | Accelerometer Y-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC0_ZSCALE** | Accelerometer Z-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO1_ID** | ID of the Gyro that the calibration is for |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO1_XOFF** | Gyro X-axis offset |  -10.0 |  10.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO1_YOFF** | Gyro Y-axis offset |  -10.0 |  10.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO1_ZOFF** | Gyro Z-axis offset |  -5.0 |  5.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO1_XSCALE** | Gyro X-axis scaling factor |  -1.5 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO1_YSCALE** | Gyro Y-axis scaling factor |  -1.5 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO1_ZSCALE** | Gyro Z-axis scaling factor |  -1.5 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG1_ID** | ID of Magnetometer the calibration is for |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG1_ROT** | Rotation of magnetometer 1 relative to airframe |  -1 |  30 |  -1 | 
-| ::: | <​div>​An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</​div>​ |||| 
-| **CAL_MAG1_XOFF** | Magnetometer X-axis offset |  -500.0 |  500.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG1_YOFF** | Magnetometer Y-axis offset |  -500.0 |  500.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG1_ZOFF** | Magnetometer Z-axis offset |  -500.0 |  500.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG1_XSCALE** | Magnetometer X-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG1_YSCALE** | Magnetometer Y-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG1_ZSCALE** | Magnetometer Z-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC1_ID** | ID of the Accelerometer that the calibration is for |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC1_XOFF** | Accelerometer X-axis offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC1_YOFF** | Accelerometer Y-axis offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC1_ZOFF** | Accelerometer Z-axis offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC1_XSCALE** | Accelerometer X-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC1_YSCALE** | Accelerometer Y-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC1_ZSCALE** | Accelerometer Z-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO2_ID** | ID of the Gyro that the calibration is for |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO2_XOFF** | Gyro X-axis offset |  -10.0 |  10.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO2_YOFF** | Gyro Y-axis offset |  -10.0 |  10.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO2_ZOFF** | Gyro Z-axis offset |  -5.0 |  5.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO2_XSCALE** | Gyro X-axis scaling factor |  -1.5 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO2_YSCALE** | Gyro Y-axis scaling factor |  -1.5 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO2_ZSCALE** | Gyro Z-axis scaling factor |  -1.5 |  1.5 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG2_ID** | ID of Magnetometer the calibration is for |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG2_ROT** | Rotation of magnetometer 2 relative to airframe |  -1 |  30 |  -1 | 
-| ::: | <​div>​An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</​div>​ |||| 
-| **CAL_MAG2_XOFF** | Magnetometer X-axis offset |  -500.0 |  500.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG2_YOFF** | Magnetometer Y-axis offset |  -500.0 |  500.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG2_ZOFF** | Magnetometer Z-axis offset |  -500.0 |  500.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG2_XSCALE** | Magnetometer X-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG2_YSCALE** | Magnetometer Y-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG2_ZSCALE** | Magnetometer Z-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC2_ID** | ID of the Accelerometer that the calibration is for |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC2_XOFF** | Accelerometer X-axis offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC2_YOFF** | Accelerometer Y-axis offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC2_ZOFF** | Accelerometer Z-axis offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC2_XSCALE** | Accelerometer X-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC2_YSCALE** | Accelerometer Y-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC2_ZSCALE** | Accelerometer Z-axis scaling factor |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_ACC_PRIME** | Primary accel ID |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_GYRO_PRIME** | Primary gyro ID |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG_PRIME** | Primary mag ID |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **CAL_MAG_SIDES** | Bitfield selecting mag sides for calibration |  34 |  63 |  63 | 
-| ::: | <​div>​DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32</​div>​ |||| 
-| **CAL_BARO_PRIME** | Primary baro ID |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **SENS_DPRES_OFF** | Differential pressure sensor offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div>​The offset (zero-reading) in Pascal</​div>​ |||| 
-| **SENS_DPRES_ANSC** | Differential pressure sensor analog scaling |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.</​div>​ |||| 
-| **SENS_BARO_QNH** | QNH for barometer |  500 |  1500 |  1013.25 | 
-| ::: | <​div></​div>​ |||| 
-| **SENS_BOARD_ROT** | Board rotation |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​This parameter defines the rotation of the FMU board relative to the platform.</​div>​ |||| 
-| **SENS_FLOW_ROT** | PX4Flow board rotation |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​This parameter defines the rotation of the PX4FLOW board relative to the platform. Zero rotation is defined as Y on flow board pointing towards front of vehicle</​div>​ |||| 
-| **SENS_BOARD_Y_OFF** | Board rotation Y (Pitch) offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div>​This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.</​div>​ |||| 
-| **SENS_BOARD_X_OFF** | Board rotation X (Roll) offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div>​This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.</​div>​ |||| 
-| **SENS_BOARD_Z_OFF** | Board rotation Z (YAW) offset |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div>​This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.</​div>​ |||| 
-| **SENS_EXT_MAG_ROT** | External magnetometer rotation |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **SENS_EXT_MAG** | Select primary magnetometer |  0 |  2 |  0 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== Sensor Enable ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **SENS_EN_LL40LS** | Lidar-Lite (LL40LS) PWM |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **SENS_EN_SF0X** | Lightware SF0x laser rangefinder |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== Snapdragon UART ESC ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **UART_ESC_MODEL** | ESC model |   ​| ​  ​| ​ 2 | 
-| ::: | <​div>​See esc_model_t enum definition in uart_esc_dev.h for all supported ESC model enum values.</​div>​ |||| 
-| **UART_ESC_BAUD** | ESC UART baud rate |   ​| ​  ​| ​ 250000 | 
-| ::: | <​div>​Default rate is 250Kbps, whic is used in off-the-shelf QRP ESC products.</​div>​ |||| 
-| **UART_ESC_MOTOR1** | Motor 1 Mapping |   ​| ​  ​| ​ 4 | 
-| ::: | <​div></​div>​ |||| 
-| **UART_ESC_MOTOR2** | Motor 2 Mapping |   ​| ​  ​| ​ 2 | 
-| ::: | <​div></​div>​ |||| 
-| **UART_ESC_MOTOR3** | Motor 3 Mapping |   ​| ​  ​| ​ 1 | 
-| ::: | <​div></​div>​ |||| 
-| **UART_ESC_MOTOR4** | Motor 4 Mapping |   ​| ​  ​| ​ 3 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== Subscriber Example ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **SUB_INTERV** | Interval of one subscriber in the example in ms |   ​| ​  ​| ​ 100 | 
-| ::: | <​div></​div>​ |||| 
-| **SUB_TESTF** | Float Demonstration Parameter in the Example |   ​| ​  ​| ​ 3.14 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== System ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **LED_RGB_MAXBRT** | RGB Led brightness limit |  0 |  15 |  15 | 
-| ::: | <​div>​Set to 0 to disable, 1 for minimum brightness up to 15 (max)</​div>​ |||| 
-| **SYS_AUTOSTART** | Auto-start script index |  0 |  99999 |  0 | 
-| ::: | <​div>​CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.</​div>​ |||| 
-| **SYS_AUTOCONFIG** | Automatically configure default values |  0 |  1 |  0 | 
-| ::: | <​div>​Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.</​div>​ |||| 
-| **SYS_USE_IO** | Set usage of IO board |  0 |  1 |  1 | 
-| ::: | <​div>​Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.</​div>​ |||| 
-| **SYS_RESTART_TYPE** | Set restart type |  0 |  2 |  2 | 
-| ::: | <​div>​Set by px4io to indicate type of restart</​div>​ |||| 
-| **SYS_MC_EST_GROUP** | Set multicopter estimator group |  0 |  2 |  0 | 
-| ::: | <​div>​Set the group of estimators used for multicopters and vtols</​div>​ |||| 
-| **SYS_COMPANION** | TELEM2 as companion computer link |  0 |  1921600 |  157600 | 
-| ::: | <​div>​CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the TELEM2 connector as companion computer interface.</​div>​ |||| 
-| **SYS_PARAM_VER** | Parameter version |  0 |   ​| ​ 1 | 
-| ::: | <​div>​This monotonically increasing number encodes the parameter compatibility set. whenever it increases parameters might not be backwards compatible and ground control stations should suggest a fresh configuration.</​div>​ |||| 
-| **SYS_LOGGER** | SD logger |  0 |  1 |  0 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== Testing ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **TEST_MIN** |  |   ​| ​  ​| ​ -1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_MAX** |  |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_TRIM** |  |   ​| ​  ​| ​ 0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_HP** |  |   ​| ​  ​| ​ 10.0 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_LP** |  |   ​| ​  ​| ​ 10.0 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_P** |  |   ​| ​  ​| ​ 0.2 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_I** |  |   ​| ​  ​| ​ 0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_I_MAX** |  |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_D** |  |   ​| ​  ​| ​ 0.01 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_D_LP** |  |   ​| ​  ​| ​ 10.0 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_MEAN** |  |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_DEV** |  |   ​| ​  ​| ​ 2.0 | 
-| ::: | <​div></​div>​ |||| 
-| **TEST_PARAMS** |  |   ​| ​  ​| ​ 12345678 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== UAVCAN ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **UAVCAN_ENABLE** | UAVCAN mode |  0 |  3 |  0 | 
-| ::: | <​div>​0 - UAVCAN disabled. 1 - Enabled support for UAVCAN actuators and sensors. 2 - Enabled support for dynamic node ID allocation and firmware update. 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update.</​div>​ |||| 
-| **UAVCAN_NODE_ID** | UAVCAN Node ID |  1 |  125 |  1 | 
-| ::: | <​div>​Read the specs at http://​uavcan.org to learn more about Node ID.</​div>​ |||| 
-| **UAVCAN_BITRATE** | UAVCAN CAN bus bitrate |  20000 |  1000000 |  1000000 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== VTOL Attitude Control ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **VT_TRANS_THR** | Target throttle value for pusher/​puller motor during the transition to fw mode |  0.0 |  1.0 |  0.6 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_DWN_PITCH_MAX** | Maximum allowed down-pitch the controller is able to demand. This prevents large, negative lift values being created when facing strong winds. The vehicle will use the pusher motor to accelerate forward if necessary |  0.0 |  45.0 |  5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_FWD_THRUST_SC** | Fixed wing thrust scale for hover forward flight |  0.0 |  2.0 |  0.0 | 
-| ::: | <​div>​Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy.</​div>​ |||| 
-| **VT_FW_MIN_ALT** | QuadChute |  0.0 |  200.0 |  0.0 | 
-| ::: | <​div>​Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude the vehicle will transition back to MC mode and enter failsafe RTL</​div>​ |||| 
-| **VT_TILT_MC** | Position of tilt servo in mc mode |  0.0 |  1.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_TILT_TRANS** | Position of tilt servo in transition mode |  0.0 |  1.0 |  0.3 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_TILT_FW** | Position of tilt servo in fw mode |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_TRANS_P2_DUR** | Duration of front transition phase 2 |  0.1 |  5.0 |  0.5 | 
-| ::: | <​div>​Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode.</​div>​ |||| 
-| **VT_FW_MOT_OFFID** | The channel number of motors that must be turned off in fixed wing mode |  0 |  12345678 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_MOT_COUNT** | VTOL number of engines |  0 |  8 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_IDLE_PWM_MC** | Idle speed of VTOL when in multicopter mode |  900 |  2000 |  900 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_MC_ARSPD_MIN** | Minimum airspeed in multicopter mode |  0.0 |  30.0 |  10.0 | 
-| ::: | <​div>​This is the minimum speed of the air flowing over the control surfaces.</​div>​ |||| 
-| **VT_MC_ARSPD_MAX** | Maximum airspeed in multicopter mode |  0.0 |  30.0 |  30.0 | 
-| ::: | <​div>​This is the maximum speed of the air flowing over the control surfaces.</​div>​ |||| 
-| **VT_MC_ARSPD_TRIM** | Trim airspeed when in multicopter mode |  0.0 |  30.0 |  10.0 | 
-| ::: | <​div>​This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.</​div>​ |||| 
-| **VT_FW_PERM_STAB** | Permanent stabilization in fw mode |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​If set to one this parameter will cause permanent attitude stabilization in fw mode. This parameter has been introduced for pure convenience sake.</​div>​ |||| 
-| **VT_FW_PITCH_TRIM** | Fixed wing pitch trim |  -1.0 |  1.0 |  0.0 | 
-| ::: | <​div>​This parameter allows to adjust the neutral elevon position in fixed wing mode.</​div>​ |||| 
-| **VT_POWER_MAX** | Motor max power |  1 |  10000 |  120.0 | 
-| ::: | <​div>​Indicates the maximum power the motor is able to produce. Used to calculate propeller efficiency map.</​div>​ |||| 
-| **VT_PROP_EFF** | Propeller efficiency parameter |  0.0 |  1.0 |  0.0 | 
-| ::: | <​div>​Influences propeller efficiency at different power settings. Should be tuned beforehand.</​div>​ |||| 
-| **VT_ARSP_LP_GAIN** | Total airspeed estimate low-pass filter gain |  0.0 |  1.0 |  0.3 | 
-| ::: | <​div>​Gain for tuning the low-pass filter for the total airspeed estimate</​div>​ |||| 
-| **VT_TYPE** | VTOL Type (Tailsitter=0,​ Tiltrotor=1,​ Standard=2) |  0 |  2 |  0 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_ELEV_MC_LOCK** | Lock elevons in multicopter mode |   ​| ​  ​| ​ 0 | 
-| ::: | <​div>​If set to 1 the elevons are locked in multicopter mode</​div>​ |||| 
-| **VT_F_TRANS_DUR** | Duration of a front transition |  0.00 |  10.00 |  3.0 | 
-| ::: | <​div>​Time in seconds used for a transition</​div>​ |||| 
-| **VT_B_TRANS_DUR** | Duration of a back transition |  0.00 |  10.00 |  2.0 | 
-| ::: | <​div>​Time in seconds used for a back transition</​div>​ |||| 
-| **VT_ARSP_BLEND** | Transition blending airspeed |  0.00 |  30.00 |  8.0 | 
-| ::: | <​div>​Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.</​div>​ |||| 
-| **VT_ARSP_TRANS** | Transition airspeed |  0.00 |  30.00 |  10.0 | 
-| ::: | <​div>​Airspeed at which we can switch to fw mode</​div>​ |||| 
-| **VT_OPT_RECOV_EN** | Optimal recovery strategy for pitch-weak tailsitters |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **VT_WV_YAWR_SCL** | Weather-vane yaw rate scale |  0.0 |  1.0 |  0.15 | 
-| ::: | <​div>​The desired yawrate from the controller will be scaled in order to avoid yaw fighting against the wind.</​div>​ |||| 
-| **VT_TRANS_TIMEOUT** | Front transition timeout |  0.00 |  30.00 |  15.0 | 
-| ::: | <​div>​Time in seconds after which transition will be cancelled. Disabled if set to 0.</​div>​ |||| 
-| **VT_TRANS_MIN_TM** | Front transition minimum time |  0.0 |  10.0 |  2.0 | 
-| ::: | <​div>​Minimum time in seconds for front transition.</​div>​ |||| 
-| **VT_NAV_FORCE_VT** | Force VTOL mode takeoff and land |  0 |  1 |  1 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== mTECS ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **MT_ENABLED** | mTECS enabled |   ​| ​  ​| ​ 0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_THR_FF** | Total Energy Rate Control Feedforward Maps the total energy rate setpoint to the throttle setpoint |  0.0 |  10.0 |  0.7 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_THR_P** | Total Energy Rate Control P Maps the total energy rate error to the throttle setpoint |  0.0 |  10.0 |  0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_THR_I** | Total Energy Rate Control I Maps the integrated total energy rate to the throttle setpoint |  0.0 |  10.0 |  0.25 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_THR_OFF** | Total Energy Rate Control Offset (Cruise throttle sp) |  0.0 |  10.0 |  0.7 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_PIT_FF** | Energy Distribution Rate Control Feedforward Maps the energy distribution rate setpoint to the pitch setpoint |  0.0 |  10.0 |  0.4 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_PIT_P** | Energy Distribution Rate Control P Maps the energy distribution rate error to the pitch setpoint |  0.0 |  10.0 |  0.03 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_PIT_I** | Energy Distribution Rate Control I Maps the integrated energy distribution rate error to the pitch setpoint |  0.0 |  10.0 |  0.03 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_PIT_OFF** | Total Energy Distribution Offset (Cruise pitch sp) |  0.0 |  10.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_THR_MIN** | Minimal Throttle Setpoint |  0.0 |  1.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_THR_MAX** | Maximal Throttle Setpoint |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_PIT_MIN** | Minimal Pitch Setpoint in Degrees |  -90.0 |  90.0 |  -45.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_PIT_MAX** | Maximal Pitch Setpoint in Degrees |  -90.0 |  90.0 |  20.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_ALT_LP** | Lowpass (cutoff freq.) for altitude |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_FPA_LP** | Lowpass (cutoff freq.) for the flight path angle |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_FPA_P** | P gain for the altitude control Maps the altitude error to the flight path angle setpoint |  0.0 |  10.0 |  0.3 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_FPA_D** | D gain for the altitude control Maps the change of altitude error to the flight path angle setpoint |  0.0 |  10.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_FPA_D_LP** | Lowpass for FPA error derivative calculation (see MT_FPA_D) |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_FPA_MIN** | Minimal flight path angle setpoint |  -90.0 |  90.0 |  -20.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_FPA_MAX** | Maximal flight path angle setpoint |  -90.0 |  90.0 |  30.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_A_LP** | Lowpass (cutoff freq.) for airspeed |   ​| ​  ​| ​ 0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_AD_LP** | Airspeed derivative calculation lowpass |   ​| ​  ​| ​ 0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_ACC_P** | P gain for the airspeed control Maps the airspeed error to the acceleration setpoint |  0.0 |  10.0 |  0.3 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_ACC_D** | D gain for the airspeed control Maps the change of airspeed error to the acceleration setpoint |  0.0 |  10.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_ACC_D_LP** | Lowpass for ACC error derivative calculation (see MT_ACC_D) |   ​| ​  ​| ​ 0.5 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_ACC_MIN** | Minimal acceleration (air) |   ​| ​  ​| ​ -40.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_ACC_MAX** | Maximal acceleration (air) |   ​| ​  ​| ​ 40.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_TKF_THR_MIN** | Minimal throttle during takeoff |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_TKF_THR_MAX** | Maximal throttle during takeoff |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_TKF_PIT_MIN** | Minimal pitch during takeoff |  -90.0 |  90.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_TKF_PIT_MAX** | Maximal pitch during takeoff |  -90.0 |  90.0 |  45.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_USP_THR_MIN** | Minimal throttle in underspeed mode |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_USP_THR_MAX** | Maximal throttle in underspeed mode |  0.0 |  1.0 |  1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_USP_PIT_MIN** | Minimal pitch in underspeed mode |  -90.0 |  90.0 |  -45.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_USP_PIT_MAX** | Maximal pitch in underspeed mode |  -90.0 |  90.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_LND_THR_MIN** | Minimal throttle in landing mode (only last phase of landing) |  0.0 |  1.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_LND_THR_MAX** | Maximal throttle in landing mode (only last phase of landing) |  0.0 |  1.0 |  0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_LND_PIT_MIN** | Minimal pitch in landing mode |  -90.0 |  90.0 |  -5.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_LND_PIT_MAX** | Maximal pitch in landing mode |  -90.0 |  90.0 |  15.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_THR_I_MAX** | Integrator Limit for Total Energy Rate Control |  0.0 |  10.0 |  10.0 | 
-| ::: | <​div></​div>​ |||| 
-| **MT_PIT_I_MAX** | Integrator Limit for Energy Distribution Rate Control |  0.0 |  10.0 |  10.0 | 
-| ::: | <​div></​div>​ |||| 
- 
-==== Miscellaneous ==== 
- 
-|< 100% 25% 45% 10% 10% 10% >| 
-^ Name ^ Description ^  Min ^  Max ^  Default ^ 
-^ :::  ^ Comment ^^^^ 
-| **EXFW_HDNG_P** |  |   ​| ​  ​| ​ 0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **EXFW_ROLL_P** |  |   ​| ​  ​| ​ 0.2 | 
-| ::: | <​div></​div>​ |||| 
-| **EXFW_PITCH_P** |  |   ​| ​  ​| ​ 0.2 | 
-| ::: | <​div></​div>​ |||| 
-| **RV_YAW_P** |  |   ​| ​  ​| ​ 0.1 | 
-| ::: | <​div></​div>​ |||| 
-| **COM_FLTMODE1** | First flightmode slot (1000-1160) |   ​| ​  ​| ​ -1 | 
-| ::: | <​div>​If the main switch channel is in this range the selected flight mode will be applied.</​div>​ |||| 
-| **COM_FLTMODE2** | Second flightmode slot (1160-1320) |   ​| ​  ​| ​ -1 | 
-| ::: | <​div>​If the main switch channel is in this range the selected flight mode will be applied.</​div>​ |||| 
-| **COM_FLTMODE3** | Third flightmode slot (1320-1480) |   ​| ​  ​| ​ -1 | 
-| ::: | <​div>​If the main switch channel is in this range the selected flight mode will be applied.</​div>​ |||| 
-| **COM_FLTMODE4** | Fourth flightmode slot (1480-1640) |   ​| ​  ​| ​ -1 | 
-| ::: | <​div>​If the main switch channel is in this range the selected flight mode will be applied.</​div>​ |||| 
-| **COM_FLTMODE5** | Fifth flightmode slot (1640-1800) |   ​| ​  ​| ​ -1 | 
-| ::: | <​div>​If the main switch channel is in this range the selected flight mode will be applied.</​div>​ |||| 
-| **COM_FLTMODE6** | Sixth flightmode slot (1800-2000) |   ​| ​  ​| ​ -1 | 
-| ::: | <​div>​If the main switch channel is in this range the selected flight mode will be applied.</​div>​ |||| 
-| **SEG_TH2V_P** |  |   ​| ​  ​| ​ 10.0 | 
-| ::: | <​div></​div>​ |||| 
-| **SEG_TH2V_I** |  |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **SEG_TH2V_I_MAX** |  |   ​| ​  ​| ​ 0.0 | 
-| ::: | <​div></​div>​ |||| 
-| **SEG_Q2V** |  |   ​| ​  ​| ​ 1.0 | 
-| ::: | <​div></​div>​ |||| 
-| **RC_MAP_FAILSAFE** | Failsafe channel mapping |  0 |  18 |  0 | 
-| ::: | <​div>​The RC mapping index indicates which channel is used for failsafe If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific rc channel to use</​div>​ |||| 
-| **MAV_TYPE** |  |   ​| ​  ​| ​ 2 | 
-| ::: | <​div></​div>​ |||| 
- 
  
 +New parameter reference can be found in the [[https://​dev.px4.io/​en/​advanced/​parameter_reference.html|Devguide]]


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