ParameterMetaData.zh-Hans.xml

<?xml version="1.0"?>
<Params>
  <ArduCopter2>
    <HS1_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS1_MIN>
    <HS1_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS1_TRIM>
    <HS1_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS1_MAX>
    <HS1_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </HS1_REV>
    <HS1_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </HS1_DZ>
    <HS2_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS2_MIN>
    <HS2_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS2_TRIM>
    <HS2_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS2_MAX>
    <HS2_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </HS2_REV>
    <HS2_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </HS2_DZ>
    <HS3_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS3_MIN>
    <HS3_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS3_TRIM>
    <HS3_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS3_MAX>
    <HS3_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </HS3_REV>
    <HS3_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </HS3_DZ>
    <HS4_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS4_MIN>
    <HS4_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS4_TRIM>
    <HS4_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </HS4_MAX>
    <HS4_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </HS4_REV>
    <HS4_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </HS4_DZ>
    <RC1_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MIN>
    <RC1_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_TRIM>
    <RC1_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MAX>
    <RC1_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC1_REV>
    <RC1_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC1_DZ>
    <RC2_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MIN>
    <RC2_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_TRIM>
    <RC2_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MAX>
    <RC2_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC2_REV>
    <RC2_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC2_DZ>
    <RC3_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MIN>
    <RC3_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_TRIM>
    <RC3_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MAX>
    <RC3_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC3_REV>
    <RC3_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC3_DZ>
    <RC4_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MIN>
    <RC4_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_TRIM>
    <RC4_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MAX>
    <RC4_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC4_REV>
    <RC4_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC4_DZ>
    <RC5_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MIN>
    <RC5_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_TRIM>
    <RC5_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MAX>
    <RC5_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC5_REV>
    <RC5_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC5_DZ>
    <RC5_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC5_FUNCTION>
    <RC6_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MIN>
    <RC6_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_TRIM>
    <RC6_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MAX>
    <RC6_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC6_REV>
    <RC6_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC6_DZ>
    <RC6_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC6_FUNCTION>
    <RC7_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MIN>
    <RC7_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_TRIM>
    <RC7_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MAX>
    <RC7_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC7_REV>
    <RC7_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC7_DZ>
    <RC7_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC7_FUNCTION>
    <RC8_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MIN>
    <RC8_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_TRIM>
    <RC8_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MAX>
    <RC8_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC8_REV>
    <RC8_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC8_DZ>
    <RC8_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC8_FUNCTION>
    <RC9_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MIN>
    <RC9_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_TRIM>
    <RC9_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MAX>
    <RC9_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC9_REV>
    <RC9_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC9_DZ>
    <RC9_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC9_FUNCTION>
    <RC10_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MIN>
    <RC10_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_TRIM>
    <RC10_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MAX>
    <RC10_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC10_REV>
    <RC10_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC10_DZ>
    <RC10_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC10_FUNCTION>
    <RC11_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MIN>
    <RC11_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_TRIM>
    <RC11_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MAX>
    <RC11_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC11_REV>
    <RC11_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC11_DZ>
    <RC11_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC11_FUNCTION>
    <RC12_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MIN>
    <RC12_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_TRIM>
    <RC12_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MAX>
    <RC12_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC12_REV>
    <RC12_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC12_DZ>
    <RC12_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC12_FUNCTION>
    <RC13_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MIN>
    <RC13_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_TRIM>
    <RC13_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MAX>
    <RC13_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC13_REV>
    <RC13_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC13_DZ>
    <RC13_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC13_FUNCTION>
    <RC14_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MIN>
    <RC14_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_TRIM>
    <RC14_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MAX>
    <RC14_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC14_REV>
    <RC14_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC14_DZ>
    <RC14_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC14_FUNCTION>
    <CAM_TRIGG_TYPE>
      <DisplayName>Camera shutter (trigger) type</DisplayName>
      <Description>how to trigger the camera to take a picture</Description>
      <Values>0:Servo,1:Relay</Values>
      <User>Standard</User>
    </CAM_TRIGG_TYPE>
    <CAM_DURATION>
      <DisplayName>Duration that shutter is held open</DisplayName>
      <Description>How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)</Description>
      <Units>seconds</Units>
      <Range>0 50</Range>
      <User>Standard</User>
    </CAM_DURATION>
    <CAM_SERVO_ON>
      <DisplayName>Servo ON PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is activated</Description>
      <Units>pwm</Units>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_ON>
    <CAM_SERVO_OFF>
      <DisplayName>Servo OFF PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is deactivated</Description>
      <Units>pwm</Units>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_OFF>
    <CAM_TRIGG_DIST>
      <DisplayName>Camera trigger distance</DisplayName>
      <Description>Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.</Description>
      <User>Standard</User>
      <Units>meters</Units>
      <Range>0 1000</Range>
    </CAM_TRIGG_DIST>
    <RELAY_PIN>
      <DisplayName>First Relay Pin</DisplayName>
      <Description>Digital pin number for first relay control. This is the pin used for camera control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN>
    <RELAY_PIN2>
      <DisplayName>Second Relay Pin</DisplayName>
      <Description>Digital pin number for 2nd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN2>
    <RELAY_PIN3>
      <DisplayName>Third Relay Pin</DisplayName>
      <Description>Digital pin number for 3rd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN3>
    <RELAY_PIN4>
      <DisplayName>Fourth Relay Pin</DisplayName>
      <Description>Digital pin number for 4th relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN4>
    <RELAY_DEFAULT>
      <DisplayName>Default relay state</DisplayName>
      <Description>The state of the relay on boot.</Description>
      <User>Standard</User>
      <Values>0:Off,1:On,2:NoChange</Values>
    </RELAY_DEFAULT>
    <EPM_ENABLE>
      <DisplayName>EPM Enable/Disable</DisplayName>
      <Description>EPM enable/disable</Description>
      <User>Standard</User>
      <Values>0:Disabled, 1:Enabled</Values>
    </EPM_ENABLE>
    <EPM_GRAB>
      <DisplayName>EPM Grab PWM</DisplayName>
      <Description>PWM value sent to EPM to initiate grabbing the cargo</Description>
      <User>Advanced</User>
      <Range>1000 2000</Range>
    </EPM_GRAB>
    <EPM_RELEASE>
      <DisplayName>EPM Release PWM</DisplayName>
      <Description>PWM value sent to EPM to release the cargo</Description>
      <User>Advanced</User>
      <Range>1000 2000</Range>
    </EPM_RELEASE>
    <EPM_NEUTRAL>
      <DisplayName>EPM Neutral PWM</DisplayName>
      <Description>PWM value sent to EPM when not grabbing or releasing</Description>
      <User>Advanced</User>
      <Range>1000 2000</Range>
    </EPM_NEUTRAL>
    <EPM_REGRAB>
      <DisplayName>EPM Regrab interval</DisplayName>
      <Description>Time in seconds that gripper will regrab the cargo to ensure grip has not weakend</Description>
      <User>Advanced</User>
      <Values>0:Never, 15:every 15 seconds, 30:every 30 seconds, 60:once per minute</Values>
    </EPM_REGRAB>
    <CHUTE_ENABLED>
      <DisplayName>Parachute release enabled or disabled</DisplayName>
      <Description>Parachute release enabled or disabled</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </CHUTE_ENABLED>
    <CHUTE_TYPE>
      <DisplayName>Parachute release mechanism type (relay or servo)</DisplayName>
      <Description>Parachute release mechanism type (relay or servo)</Description>
      <Values>0:First Relay,1:Second Relay,2:Third Relay,3:Fourth Relay,10:Servo</Values>
      <User>Standard</User>
    </CHUTE_TYPE>
    <CHUTE_SERVO_ON>
      <DisplayName>Parachute Servo ON PWM value</DisplayName>
      <Description>Parachute Servo PWM value when parachute is released</Description>
      <Range>1000 2000</Range>
      <Units>pwm</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </CHUTE_SERVO_ON>
    <CHUTE_SERVO_OFF>
      <DisplayName>Servo OFF PWM value</DisplayName>
      <Description>Parachute Servo PWM value when parachute is not released</Description>
      <Range>1000 2000</Range>
      <Units>pwm</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </CHUTE_SERVO_OFF>
    <CHUTE_ALT_MIN>
      <DisplayName>Parachute min altitude in cm above home</DisplayName>
      <Description>Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check.</Description>
      <Range>0 32000</Range>
      <Units>Meters</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </CHUTE_ALT_MIN>
    <COMPASS_OFS_X>
      <DisplayName>Compass offsets on the X axis</DisplayName>
      <Description>Offset to be added to the compass x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_X>
    <COMPASS_OFS_Y>
      <DisplayName>Compass offsets on the Y axis</DisplayName>
      <Description>Offset to be added to the compass y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Y>
    <COMPASS_OFS_Z>
      <DisplayName>Compass offsets on the Z axis</DisplayName>
      <Description>Offset to be added to the compass z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Z>
    <COMPASS_DEC>
      <DisplayName>Compass declination</DisplayName>
      <Description>An angle to compensate between the true north and magnetic north</Description>
      <Range>-3.142 3.142</Range>
      <Units>Radians</Units>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </COMPASS_DEC>
    <COMPASS_LEARN>
      <DisplayName>Learn compass offsets automatically</DisplayName>
      <Description>Enable or disable the automatic learning of compass offsets</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_LEARN>
    <COMPASS_USE>
      <DisplayName>Use compass for yaw</DisplayName>
      <Description>Enable or disable the use of the compass (instead of the GPS) for determining heading</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE>
    <COMPASS_AUTODEC>
      <DisplayName>Auto Declination</DisplayName>
      <Description>Enable or disable the automatic calculation of the declination based on gps location</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_AUTODEC>
    <COMPASS_MOTCT>
      <DisplayName>Motor interference compensation type</DisplayName>
      <Description>Set motor interference compensation type to disabled, throttle or current.  Do not change manually.</Description>
      <Values>0:Disabled,1:Use Throttle,2:Use Current</Values>
      <Increment>1</Increment>
    </COMPASS_MOTCT>
    <COMPASS_MOT_X>
      <DisplayName>Motor interference compensation for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_X>
    <COMPASS_MOT_Y>
      <DisplayName>Motor interference compensation for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Y>
    <COMPASS_MOT_Z>
      <DisplayName>Motor interference compensation for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Z>
    <COMPASS_ORIENT>
      <DisplayName>Compass orientation</DisplayName>
      <Description>The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT>
    <COMPASS_EXTERNAL>
      <DisplayName>Compass is attached via an external cable</DisplayName>
      <Description>Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL>
    <COMPASS_OFS2_X>
      <DisplayName>Compass2 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass2's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_X>
    <COMPASS_OFS2_Y>
      <DisplayName>Compass2 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass2's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Y>
    <COMPASS_OFS2_Z>
      <DisplayName>Compass2 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass2's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Z>
    <COMPASS_MOT2_X>
      <DisplayName>Motor interference compensation to compass2 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_X>
    <COMPASS_MOT2_Y>
      <DisplayName>Motor interference compensation to compass2 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Y>
    <COMPASS_MOT2_Z>
      <DisplayName>Motor interference compensation to compass2 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Z>
    <COMPASS_PRIMARY>
      <DisplayName>Choose primary compass</DisplayName>
      <Description>If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored</Description>
      <Values>0:FirstCompass,1:SecondCompass</Values>
      <User>Advanced</User>
    </COMPASS_PRIMARY>
    <COMPASS_OFS3_X>
      <DisplayName>Compass3 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass3's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_X>
    <COMPASS_OFS3_Y>
      <DisplayName>Compass3 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass3's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Y>
    <COMPASS_OFS3_Z>
      <DisplayName>Compass3 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass3's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Z>
    <COMPASS_MOT3_X>
      <DisplayName>Motor interference compensation to compass3 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_X>
    <COMPASS_MOT3_Y>
      <DisplayName>Motor interference compensation to compass3 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Y>
    <COMPASS_MOT3_Z>
      <DisplayName>Motor interference compensation to compass3 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Z>
    <COMPASS_DEV_ID>
      <DisplayName>Compass device id</DisplayName>
      <Description>Compass device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID>
    <COMPASS_DEV_ID2>
      <DisplayName>Compass2 device id</DisplayName>
      <Description>Second compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID2>
    <COMPASS_DEV_ID3>
      <DisplayName>Compass3 device id</DisplayName>
      <Description>Third compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID3>
    <COMPASS_USE2>
      <DisplayName>Compass2 used for yaw</DisplayName>
      <Description>Enable or disable the second compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE2>
    <COMPASS_ORIENT2>
      <DisplayName>Compass2 orientation</DisplayName>
      <Description>The orientation of the second compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT2>
    <COMPASS_EXTERN2>
      <DisplayName>Compass2 is attached via an external cable</DisplayName>
      <Description>Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERN2>
    <COMPASS_USE3>
      <DisplayName>Compass3 used for yaw</DisplayName>
      <Description>Enable or disable the third compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE3>
    <COMPASS_ORIENT3>
      <DisplayName>Compass3 orientation</DisplayName>
      <Description>The orientation of the third compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT3>
    <COMPASS_EXTERN3>
      <DisplayName>Compass3 is attached via an external cable</DisplayName>
      <Description>Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERN3>
    <INS_PRODUCT_ID>
      <DisplayName>IMU Product ID</DisplayName>
      <Description>Which type of IMU is installed (read-only).</Description>
      <User>Advanced</User>
      <Values>0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux</Values>
    </INS_PRODUCT_ID>
    <INS_ACCSCAL_X>
      <DisplayName>Accelerometer scaling of X axis</DisplayName>
      <Description>Accelerometer scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_X>
    <INS_ACCSCAL_Y>
      <DisplayName>Accelerometer scaling of Y axis</DisplayName>
      <Description>Accelerometer scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Y>
    <INS_ACCSCAL_Z>
      <DisplayName>Accelerometer scaling of Z axis</DisplayName>
      <Description>Accelerometer scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Z>
    <INS_ACCOFFS_X>
      <DisplayName>Accelerometer offsets of X axis</DisplayName>
      <Description>Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_X>
    <INS_ACCOFFS_Y>
      <DisplayName>Accelerometer offsets of Y axis</DisplayName>
      <Description>Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Y>
    <INS_ACCOFFS_Z>
      <DisplayName>Accelerometer offsets of Z axis</DisplayName>
      <Description>Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Z>
    <INS_GYROFFS_X>
      <DisplayName>Gyro offsets of X axis</DisplayName>
      <Description>Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_X>
    <INS_GYROFFS_Y>
      <DisplayName>Gyro offsets of Y axis</DisplayName>
      <Description>Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Y>
    <INS_GYROFFS_Z>
      <DisplayName>Gyro offsets of Z axis</DisplayName>
      <Description>Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Z>
    <INS_MPU6K_FILTER>
      <DisplayName>MPU6000 filter frequency</DisplayName>
      <Description>Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation</Description>
      <Units>Hz</Units>
      <Values>0:Default,5:5Hz,10:10Hz,20:20Hz,42:42Hz,98:98Hz</Values>
      <User>Advanced</User>
    </INS_MPU6K_FILTER>
    <INS_ACC2SCAL_X>
      <DisplayName>Accelerometer2 scaling of X axis</DisplayName>
      <Description>Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_X>
    <INS_ACC2SCAL_Y>
      <DisplayName>Accelerometer2 scaling of Y axis</DisplayName>
      <Description>Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Y>
    <INS_ACC2SCAL_Z>
      <DisplayName>Accelerometer2 scaling of Z axis</DisplayName>
      <Description>Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Z>
    <INS_ACC2OFFS_X>
      <DisplayName>Accelerometer2 offsets of X axis</DisplayName>
      <Description>Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_X>
    <INS_ACC2OFFS_Y>
      <DisplayName>Accelerometer2 offsets of Y axis</DisplayName>
      <Description>Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Y>
    <INS_ACC2OFFS_Z>
      <DisplayName>Accelerometer2 offsets of Z axis</DisplayName>
      <Description>Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Z>
    <INS_GYR2OFFS_X>
      <DisplayName>Gyro2 offsets of X axis</DisplayName>
      <Description>Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_X>
    <INS_GYR2OFFS_Y>
      <DisplayName>Gyro2 offsets of Y axis</DisplayName>
      <Description>Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Y>
    <INS_GYR2OFFS_Z>
      <DisplayName>Gyro2 offsets of Z axis</DisplayName>
      <Description>Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Z>
    <INS_ACC3SCAL_X>
      <DisplayName>Accelerometer3 scaling of X axis</DisplayName>
      <Description>Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_X>
    <INS_ACC3SCAL_Y>
      <DisplayName>Accelerometer3 scaling of Y axis</DisplayName>
      <Description>Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Y>
    <INS_ACC3SCAL_Z>
      <DisplayName>Accelerometer3 scaling of Z axis</DisplayName>
      <Description>Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Z>
    <INS_ACC3OFFS_X>
      <DisplayName>Accelerometer3 offsets of X axis</DisplayName>
      <Description>Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_X>
    <INS_ACC3OFFS_Y>
      <DisplayName>Accelerometer3 offsets of Y axis</DisplayName>
      <Description>Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Y>
    <INS_ACC3OFFS_Z>
      <DisplayName>Accelerometer3 offsets of Z axis</DisplayName>
      <Description>Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Z>
    <INS_GYR3OFFS_X>
      <DisplayName>Gyro3 offsets of X axis</DisplayName>
      <Description>Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_X>
    <INS_GYR3OFFS_Y>
      <DisplayName>Gyro3 offsets of Y axis</DisplayName>
      <Description>Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Y>
    <INS_GYR3OFFS_Z>
      <DisplayName>Gyro3 offsets of Z axis</DisplayName>
      <Description>Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Z>
    <INAV_TC_XY>
      <DisplayName>Horizontal Time Constant</DisplayName>
      <Description>Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate</Description>
      <Range>0 10</Range>
      <Increment>0.1</Increment>
    </INAV_TC_XY>
    <INAV_TC_Z>
      <DisplayName>Vertical Time Constant</DisplayName>
      <Description>Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate</Description>
      <Range>0 10</Range>
      <Increment>0.1</Increment>
    </INAV_TC_Z>
    <WPNAV_SPEED>
      <DisplayName>Waypoint Horizontal Speed Target</DisplayName>
      <Description>Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission</Description>
      <Units>cm/s</Units>
      <Range>0 2000</Range>
      <Increment>50</Increment>
      <User>Standard</User>
    </WPNAV_SPEED>
    <WPNAV_RADIUS>
      <DisplayName>Waypoint Radius</DisplayName>
      <Description>Defines the distance from a waypoint, that when crossed indicates the wp has been hit.</Description>
      <Units>cm</Units>
      <Range>100 1000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </WPNAV_RADIUS>
    <WPNAV_SPEED_UP>
      <DisplayName>Waypoint Climb Speed Target</DisplayName>
      <Description>Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission</Description>
      <Units>cm/s</Units>
      <Range>0 1000</Range>
      <Increment>50</Increment>
      <User>Standard</User>
    </WPNAV_SPEED_UP>
    <WPNAV_SPEED_DN>
      <DisplayName>Waypoint Descent Speed Target</DisplayName>
      <Description>Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission</Description>
      <Units>cm/s</Units>
      <Range>0 500</Range>
      <Increment>10</Increment>
      <User>Standard</User>
    </WPNAV_SPEED_DN>
    <WPNAV_LOIT_SPEED>
      <DisplayName>Loiter Horizontal Maximum Speed</DisplayName>
      <Description>Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode</Description>
      <Units>cm/s</Units>
      <Range>0 2000</Range>
      <Increment>50</Increment>
      <User>Standard</User>
    </WPNAV_LOIT_SPEED>
    <WPNAV_ACCEL>
      <DisplayName>Waypoint Acceleration</DisplayName>
      <Description>Defines the horizontal acceleration in cm/s/s used during missions</Description>
      <Units>cm/s/s</Units>
      <Range>50 500</Range>
      <Increment>10</Increment>
      <User>Standard</User>
    </WPNAV_ACCEL>
    <WPNAV_ACCEL_Z>
      <DisplayName>Waypoint Vertical Acceleration</DisplayName>
      <Description>Defines the vertical acceleration in cm/s/s used during missions</Description>
      <Units>cm/s/s</Units>
      <Range>50 500</Range>
      <Increment>10</Increment>
      <User>Standard</User>
    </WPNAV_ACCEL_Z>
    <WPNAV_LOIT_JERK>
      <DisplayName>Loiter maximum jerk</DisplayName>
      <Description>Loiter maximum jerk in cm/s/s/s</Description>
      <Units>cm/s/s/s</Units>
      <Range>500 2000</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </WPNAV_LOIT_JERK>
    <CIRCLE_RADIUS>
      <DisplayName>Circle Radius</DisplayName>
      <Description>Defines the radius of the circle the vehicle will fly when in Circle flight mode</Description>
      <Units>cm</Units>
      <Range>0 10000</Range>
      <Increment>100</Increment>
      <User>Standard</User>
    </CIRCLE_RADIUS>
    <CIRCLE_RATE>
      <DisplayName>Circle rate</DisplayName>
      <Description>Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise</Description>
      <Units>deg/s</Units>
      <Range>-90 90</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </CIRCLE_RATE>
    <ATC_RATE_RP_MAX>
      <DisplayName>Angle Rate Roll-Pitch max</DisplayName>
      <Description>maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes</Description>
      <Units>Centi-Degrees/Sec</Units>
      <Range>9000 36000</Range>
      <Increment>500</Increment>
      <User>Advanced</User>
    </ATC_RATE_RP_MAX>
    <ATC_RATE_Y_MAX>
      <DisplayName>Angle Rate Yaw max</DisplayName>
      <Description>maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes</Description>
      <Units>Centi-Degrees/Sec</Units>
      <Range>4500 18000</Range>
      <Increment>500</Increment>
      <User>Advanced</User>
    </ATC_RATE_Y_MAX>
    <ATC_SLEW_YAW>
      <DisplayName>Yaw target slew rate</DisplayName>
      <Description>Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes</Description>
      <Units>Centi-Degrees/Sec</Units>
      <Range>500 18000</Range>
      <Increment>100</Increment>
      <User>Advanced</User>
    </ATC_SLEW_YAW>
    <ATC_ACCEL_RP_MAX>
      <DisplayName>Acceleration Max for Roll/Pitch</DisplayName>
      <Description>Maximum acceleration in roll/pitch axis</Description>
      <Units>Centi-Degrees/Sec/Sec</Units>
      <Range>0 180000</Range>
      <Increment>1000</Increment>
      <Values>0:Disabled, 72000:Slow, 108000:Medium, 162000:Fast</Values>
      <User>Advanced</User>
    </ATC_ACCEL_RP_MAX>
    <ATC_ACCEL_Y_MAX>
      <DisplayName>Acceleration Max for Yaw</DisplayName>
      <Description>Maximum acceleration in yaw axis</Description>
      <Units>Centi-Degrees/Sec/Sec</Units>
      <Range>0 72000</Range>
      <Values>0:Disabled, 18000:Slow, 36000:Medium, 54000:Fast</Values>
      <Increment>1000</Increment>
      <User>Advanced</User>
    </ATC_ACCEL_Y_MAX>
    <ATC_RATE_FF_ENAB>
      <DisplayName>Rate Feedforward Enable</DisplayName>
      <Description>Controls whether body-frame rate feedfoward is enabled or disabled</Description>
      <Values>0:Disabled, 1:Enabled</Values>
      <User>Advanced</User>
    </ATC_RATE_FF_ENAB>
    <POSCON_THR_HOVER>
      <DisplayName>Throttle Hover</DisplayName>
      <Description>The autopilot's estimate of the throttle required to maintain a level hover.  Calculated automatically from the pilot's throttle input while in stabilize mode</Description>
      <Range>0 1000</Range>
      <Units>Percent*10</Units>
      <User>Advanced</User>
    </POSCON_THR_HOVER>
    <AHRS_GPS_GAIN>
      <DisplayName>AHRS GPS gain</DisplayName>
      <Description>This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.</Description>
      <Range>0.0 1.0</Range>
      <Increment>.01</Increment>
    </AHRS_GPS_GAIN>
    <AHRS_GPS_USE>
      <DisplayName>AHRS use GPS for navigation</DisplayName>
      <Description>This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_GPS_USE>
    <AHRS_YAW_P>
      <DisplayName>Yaw P</DisplayName>
      <Description>This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_YAW_P>
    <AHRS_RP_P>
      <DisplayName>AHRS RP_P</DisplayName>
      <Description>This controls how fast the accelerometers correct the attitude</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_RP_P>
    <AHRS_WIND_MAX>
      <DisplayName>Maximum wind</DisplayName>
      <Description>This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.</Description>
      <Range>0 127</Range>
      <Units>m/s</Units>
      <Increment>1</Increment>
    </AHRS_WIND_MAX>
    <AHRS_TRIM_X>
      <DisplayName>AHRS Trim Roll</DisplayName>
      <Description>Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_X>
    <AHRS_TRIM_Y>
      <DisplayName>AHRS Trim Pitch</DisplayName>
      <Description>Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_Y>
    <AHRS_TRIM_Z>
      <DisplayName>AHRS Trim Yaw</DisplayName>
      <Description>Not Used</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </AHRS_TRIM_Z>
    <AHRS_ORIENTATION>
      <DisplayName>Board Orientation</DisplayName>
      <Description>Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
      <User>Advanced</User>
    </AHRS_ORIENTATION>
    <AHRS_COMP_BETA>
      <DisplayName>AHRS Velocity Complmentary Filter Beta Coefficient</DisplayName>
      <Description>This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.</Description>
      <Range>0.001 0.5</Range>
      <Increment>.01</Increment>
      <User>Advanced</User>
    </AHRS_COMP_BETA>
    <AHRS_GPS_MINSATS>
      <DisplayName>AHRS GPS Minimum satellites</DisplayName>
      <Description>Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.</Description>
      <Range>0 10</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </AHRS_GPS_MINSATS>
    <AHRS_EKF_USE>
      <DisplayName>Use NavEKF Kalman filter for attitude and position estimation</DisplayName>
      <Description>This controls whether the NavEKF Kalman filter is used for attitude and position estimation</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_EKF_USE>
    <MNT_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT_MODE>
    <MNT_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_X>
    <MNT_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Y>
    <MNT_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Z>
    <MNT_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_X>
    <MNT_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Y>
    <MNT_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Z>
    <MNT_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_X>
    <MNT_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Y>
    <MNT_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Z>
    <MNT_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_ROLL>
    <MNT_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_TILT>
    <MNT_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_PAN>
    <MNT_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_ROLL>
    <MNT_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_ROL>
    <MNT_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_ROL>
    <MNT_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_TILT>
    <MNT_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_TIL>
    <MNT_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_TIL>
    <MNT_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_PAN>
    <MNT_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_PAN>
    <MNT_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_PAN>
    <MNT_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_JSTICK_SPD>
    <MNT_LEAD_RLL>
      <DisplayName>Roll stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT_LEAD_RLL>
    <MNT_LEAD_PTCH>
      <DisplayName>Pitch stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT_LEAD_PTCH>
    <MNT2_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT2_MODE>
    <MNT2_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_X>
    <MNT2_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_Y>
    <MNT2_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_Z>
    <MNT2_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_X>
    <MNT2_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_Y>
    <MNT2_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_Z>
    <MNT2_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_X>
    <MNT2_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_Y>
    <MNT2_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_Z>
    <MNT2_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_ROLL>
    <MNT2_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_TILT>
    <MNT2_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_PAN>
    <MNT2_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_ROLL>
    <MNT2_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_ROL>
    <MNT2_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_ROL>
    <MNT2_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_TILT>
    <MNT2_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_TIL>
    <MNT2_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_TIL>
    <MNT2_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_PAN>
    <MNT2_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_PAN>
    <MNT2_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_PAN>
    <MNT2_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_JSTICK_SPD>
    <MNT2_LEAD_RLL>
      <DisplayName>Roll stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT2_LEAD_RLL>
    <MNT2_LEAD_PTCH>
      <DisplayName>Pitch stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT2_LEAD_PTCH>
    <BATT_MONITOR>
      <DisplayName>Battery monitoring</DisplayName>
      <Description>Controls enabling monitoring of the battery's voltage and current</Description>
      <Values>0:Disabled,3:Voltage Only,4:Voltage and Current</Values>
      <User>Standard</User>
    </BATT_MONITOR>
    <BATT_VOLT_PIN>
      <DisplayName>Battery Voltage sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.</Description>
      <Values>-1:Disabled, 0:A0, 1:A1, 2:Pixhawk, 13:A13, 100:PX4</Values>
      <User>Standard</User>
    </BATT_VOLT_PIN>
    <BATT_CURR_PIN>
      <DisplayName>Battery Current sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.</Description>
      <Values>-1:Disabled, 1:A1, 2:A2, 3:Pixhawk, 12:A12, 101:PX4</Values>
      <User>Standard</User>
    </BATT_CURR_PIN>
    <BATT_VOLT_MULT>
      <DisplayName>Voltage Multiplier</DisplayName>
      <Description>Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.</Description>
      <User>Advanced</User>
    </BATT_VOLT_MULT>
    <BATT_AMP_PERVOLT>
      <DisplayName>Amps per volt</DisplayName>
      <Description>Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.</Description>
      <Units>Amps/Volt</Units>
      <User>Standard</User>
    </BATT_AMP_PERVOLT>
    <BATT_AMP_OFFSET>
      <DisplayName>AMP offset</DisplayName>
      <Description>Voltage offset at zero current on current sensor</Description>
      <Units>Volts</Units>
      <User>Standard</User>
    </BATT_AMP_OFFSET>
    <BATT_CAPACITY>
      <DisplayName>Battery capacity</DisplayName>
      <Description>Capacity of the battery in mAh when full</Description>
      <Units>mAh</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </BATT_CAPACITY>
    <BATT_VOLT2_PIN>
      <DisplayName>2nd Battery Voltage sensing pin</DisplayName>
      <Description>This sets the pin for sensing the voltage on a 2nd battery. Set to -1 to disable sensing of a second battery</Description>
      <User>Standard</User>
    </BATT_VOLT2_PIN>
    <BATT_VOLT2_MULT>
      <DisplayName>2nd battery voltage multiplier</DisplayName>
      <Description>Used to convert the voltage of the VOLT2_PIN to the actual battery's voltage (pin_voltage * VOLT_MULT).</Description>
      <User>Advanced</User>
    </BATT_VOLT2_MULT>
    <BRD_PWM_COUNT>
      <DisplayName>PWM Count</DisplayName>
      <Description>Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.</Description>
      <Values>0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs</Values>
    </BRD_PWM_COUNT>
    <BRD_SER1_RTSCTS>
      <DisplayName>Serial 1 flow control</DisplayName>
      <Description>Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER1_RTSCTS>
    <BRD_SER2_RTSCTS>
      <DisplayName>Serial 2 flow control</DisplayName>
      <Description>Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER2_RTSCTS>
    <BRD_SAFETYENABLE>
      <DisplayName>Enable use of safety arming switch</DisplayName>
      <Description>Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.</Description>
      <Values>0:Disabled,1:Enabled</Values>
    </BRD_SAFETYENABLE>
    <SPRAY_ENABLE>
      <DisplayName>Sprayer enable/disable</DisplayName>
      <Description>Allows you to enable (1) or disable (0) the sprayer</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </SPRAY_ENABLE>
    <SPRAY_PUMP_RATE>
      <DisplayName>Pump speed</DisplayName>
      <Description>Desired pump speed when travelling 1m/s expressed as a percentage</Description>
      <Units>percentage</Units>
      <Range>0 100</Range>
      <User>Standard</User>
    </SPRAY_PUMP_RATE>
    <SPRAY_SPINNER>
      <DisplayName>Spinner rotation speed</DisplayName>
      <Description>Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)</Description>
      <Units>ms</Units>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </SPRAY_SPINNER>
    <SPRAY_SPEED_MIN>
      <DisplayName>Speed minimum</DisplayName>
      <Description>Speed minimum at which we will begin spraying</Description>
      <Units>cm/s</Units>
      <Range>0 1000</Range>
      <User>Standard</User>
    </SPRAY_SPEED_MIN>
    <SPRAY_PUMP_MIN>
      <DisplayName>Pump speed minimum</DisplayName>
      <Description>Minimum pump speed expressed as a percentage</Description>
      <Units>percentage</Units>
      <Range>0 100</Range>
      <User>Standard</User>
    </SPRAY_PUMP_MIN>
    <GND_ABS_PRESS>
      <DisplayName>Absolute Pressure</DisplayName>
      <Description>calibrated ground pressure in Pascals</Description>
      <Units>pascals</Units>
      <Increment>1</Increment>
    </GND_ABS_PRESS>
    <GND_TEMP>
      <DisplayName>ground temperature</DisplayName>
      <Description>calibrated ground temperature in degrees Celsius</Description>
      <Units>degrees celsius</Units>
      <Increment>1</Increment>
    </GND_TEMP>
    <GND_ALT_OFFSET>
      <DisplayName>altitude offset</DisplayName>
      <Description>altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.</Description>
      <Units>meters</Units>
      <Range>-128 127</Range>
      <Increment>1</Increment>
    </GND_ALT_OFFSET>
    <GPS_TYPE>
      <DisplayName>GPS type</DisplayName>
      <Description>GPS type</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:PX4EXPERIMENTAL</Values>
    </GPS_TYPE>
    <GPS_TYPE2>
      <DisplayName>2nd GPS type</DisplayName>
      <Description>GPS type of 2nd GPS</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:PX4EXPERIMENTAL</Values>
    </GPS_TYPE2>
    <GPS_NAVFILTER>
      <DisplayName>Navigation filter setting</DisplayName>
      <Description>Navigation filter engine setting</Description>
      <Values>0:Portable,2:Stationary,3:Pedestrian,4:Automotive,5:Sea,6:Airborne1G,7:Airborne2G,8:Airborne4G</Values>
    </GPS_NAVFILTER>
    <GPS_AUTO_SWITCH>
      <DisplayName>Automatic Switchover Setting</DisplayName>
      <Description>Automatic switchover to GPS reporting best lock</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </GPS_AUTO_SWITCH>
    <GPS_DGPS_MIN_LOCK>
      <DisplayName>Minimum Lock Type Accepted for DGPS</DisplayName>
      <Description>Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.</Description>
      <Values>0:Any,50:FloatRTK,100:IntegerRTK</Values>
      <User>Advanced</User>
    </GPS_DGPS_MIN_LOCK>
    <GPS_SBAS_MODE>
      <DisplayName>SBAS Mode</DisplayName>
      <Description>This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.</Description>
      <Values>0:Disabled,1:Enabled,2:NoChange</Values>
      <User>Advanced</User>
    </GPS_SBAS_MODE>
    <GPS_MIN_ELEV>
      <DisplayName>Minimum elevation</DisplayName>
      <Description>This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.</Description>
      <Range>-100 90</Range>
      <Units>Degrees</Units>
      <User>Advanced</User>
    </GPS_MIN_ELEV>
    <SCHED_DEBUG>
      <DisplayName>Scheduler debug level</DisplayName>
      <Description>Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.</Description>
      <Values>0:Disabled,2:ShowSlips,3:ShowOverruns</Values>
      <User>Advanced</User>
    </SCHED_DEBUG>
    <FENCE_ENABLE>
      <DisplayName>Fence enable/disable</DisplayName>
      <Description>Allows you to enable (1) or disable (0) the fence functionality</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </FENCE_ENABLE>
    <FENCE_TYPE>
      <DisplayName>Fence Type</DisplayName>
      <Description>Enabled fence types held as bitmask</Description>
      <Values>0:None,1:Altitude,2:Circle,3:Altitude and Circle</Values>
      <User>Standard</User>
    </FENCE_TYPE>
    <FENCE_ACTION>
      <DisplayName>Fence Action</DisplayName>
      <Description>What action should be taken when fence is breached</Description>
      <Values>0:Report Only,1:RTL or Land</Values>
      <User>Standard</User>
    </FENCE_ACTION>
    <FENCE_ALT_MAX>
      <DisplayName>Fence Maximum Altitude</DisplayName>
      <Description>Maximum altitude allowed before geofence triggers</Description>
      <Units>Meters</Units>
      <Range>10 1000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FENCE_ALT_MAX>
    <FENCE_RADIUS>
      <DisplayName>Circular Fence Radius</DisplayName>
      <Description>Circle fence radius which when breached will cause an RTL</Description>
      <Units>Meters</Units>
      <Range>30 10000</Range>
      <User>Standard</User>
    </FENCE_RADIUS>
    <FENCE_MARGIN>
      <DisplayName>Fence Margin</DisplayName>
      <Description>Distance that autopilot's should maintain from the fence to avoid a breach</Description>
      <Units>Meters</Units>
      <Range>1 10</Range>
      <User>Standard</User>
    </FENCE_MARGIN>
    <RALLY_TOTAL>
      <DisplayName>Rally Total</DisplayName>
      <Description>Number of rally points currently loaded</Description>
      <User>Advanced</User>
    </RALLY_TOTAL>
    <RALLY_LIMIT_KM>
      <DisplayName>Rally Limit</DisplayName>
      <Description>Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.</Description>
      <User>Advanced</User>
      <Units>kilometers</Units>
      <Increment>0.1</Increment>
    </RALLY_LIMIT_KM>
    <GPSGLITCH_ENABLE>
      <DisplayName>GPS Glitch protection enable/disable</DisplayName>
      <Description>Allows you to enable (1) or disable (0) gps glitch protection</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </GPSGLITCH_ENABLE>
    <GPSGLITCH_RADIUS>
      <DisplayName>GPS glitch protection radius within which all new positions are accepted</DisplayName>
      <Description>GPS glitch protection radius within which all new positions are accepted</Description>
      <Units>cm</Units>
      <Range>100 2000</Range>
      <Increment>100</Increment>
      <User>Advanced</User>
    </GPSGLITCH_RADIUS>
    <GPSGLITCH_ACCEL>
      <DisplayName>GPS glitch protection's max vehicle acceleration assumption</DisplayName>
      <Description>GPS glitch protection's max vehicle acceleration assumption</Description>
      <Units>cm/s/s</Units>
      <Range>100 2000</Range>
      <Increment>100</Increment>
      <User>Advanced</User>
    </GPSGLITCH_ACCEL>
    <BAROGLTCH_ENABLE>
      <DisplayName>Baro Glitch protection enable/disable</DisplayName>
      <Description>Allows you to enable (1) or disable (0) baro glitch protection</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </BAROGLTCH_ENABLE>
    <BAROGLTCH_DIST>
      <DisplayName>Baro glitch protection distance within which alt update is immediately accepted</DisplayName>
      <Description>Baro glitch protection distance within which alt update is immediately accepted</Description>
      <Units>cm</Units>
      <Range>100 2000</Range>
      <Increment>100</Increment>
      <User>Advanced</User>
    </BAROGLTCH_DIST>
    <BAROGLTCH_ACCEL>
      <DisplayName>Baro glitch protection's max vehicle acceleration assumption</DisplayName>
      <Description>Baro glitch protection's max vehicle acceleration assumption</Description>
      <Units>cm/s/s</Units>
      <Range>100 2000</Range>
      <Increment>100</Increment>
      <User>Advanced</User>
    </BAROGLTCH_ACCEL>
    <H_SV1_POS>
      <DisplayName>Servo 1 Position</DisplayName>
      <Description>Angular location of swash servo #1</Description>
      <Range>-180 180</Range>
      <Units>Degrees</Units>
      <User>Standard</User>
      <Increment>1</Increment>
    </H_SV1_POS>
    <H_SV2_POS>
      <DisplayName>Servo 2 Position</DisplayName>
      <Description>Angular location of swash servo #2</Description>
      <Range>-180 180</Range>
      <Units>Degrees</Units>
      <User>Standard</User>
      <Increment>1</Increment>
    </H_SV2_POS>
    <H_SV3_POS>
      <DisplayName>Servo 3 Position</DisplayName>
      <Description>Angular location of swash servo #3</Description>
      <Range>-180 180</Range>
      <Units>Degrees</Units>
      <User>Standard</User>
      <Increment>1</Increment>
    </H_SV3_POS>
    <H_ROL_MAX>
      <DisplayName>Swash Roll Angle Max</DisplayName>
      <Description>Maximum roll angle of the swash plate</Description>
      <Range>0 18000</Range>
      <Units>Centi-Degrees</Units>
      <Increment>100</Increment>
      <User>Advanced</User>
    </H_ROL_MAX>
    <H_PIT_MAX>
      <DisplayName>Swash Pitch Angle Max</DisplayName>
      <Description>Maximum pitch angle of the swash plate</Description>
      <Range>0 18000</Range>
      <Units>Centi-Degrees</Units>
      <Increment>100</Increment>
      <User>Advanced</User>
    </H_PIT_MAX>
    <H_COL_MIN>
      <DisplayName>Collective Pitch Minimum</DisplayName>
      <Description>Lowest possible servo position for the swashplate</Description>
      <Range>1000 2000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_COL_MIN>
    <H_COL_MAX>
      <DisplayName>Collective Pitch Maximum</DisplayName>
      <Description>Highest possible servo position for the swashplate</Description>
      <Range>1000 2000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_COL_MAX>
    <H_COL_MID>
      <DisplayName>Collective Pitch Mid-Point</DisplayName>
      <Description>Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades)</Description>
      <Range>1000 2000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_COL_MID>
    <H_TAIL_TYPE>
      <DisplayName>Tail Type</DisplayName>
      <Description>Tail type selection.  Simpler yaw controller used if external gyro is selected</Description>
      <Values>0:Servo only,1:Servo with ExtGyro,2:DirectDrive VarPitch,3:DirectDrive FixedPitch</Values>
      <User>Standard</User>
    </H_TAIL_TYPE>
    <H_SWASH_TYPE>
      <DisplayName>Swash Type</DisplayName>
      <Description>Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing</Description>
      <Values>0:3-Servo CCPM, 1:H1 Mechanical Mixing</Values>
      <User>Standard</User>
    </H_SWASH_TYPE>
    <H_GYR_GAIN>
      <DisplayName>External Gyro Gain</DisplayName>
      <Description>PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro</Description>
      <Range>0 1000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_GYR_GAIN>
    <H_SV_MAN>
      <DisplayName>Manual Servo Mode</DisplayName>
      <Description>Pass radio inputs directly to servos for set-up. Do not set this manually!</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </H_SV_MAN>
    <H_PHANG>
      <DisplayName>Swashplate Phase Angle Compensation</DisplayName>
      <Description>Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem</Description>
      <Range>-90 90</Range>
      <Units>Degrees</Units>
      <User>Advanced</User>
      <Increment>1</Increment>
    </H_PHANG>
    <H_COLYAW>
      <DisplayName>Collective-Yaw Mixing</DisplayName>
      <Description>Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.</Description>
      <Range>-10 10</Range>
    </H_COLYAW>
    <H_GOV_SETPOINT>
      <DisplayName>External Motor Governor Setpoint</DisplayName>
      <Description>PWM passed to the external motor governor when external governor is enabled</Description>
      <Range>0 1000</Range>
      <Units>PWM</Units>
      <Increment>10</Increment>
      <User>Standard</User>
    </H_GOV_SETPOINT>
    <H_RSC_MODE>
      <DisplayName>Rotor Speed Control Mode</DisplayName>
      <Description>Controls the source of the desired rotor speed, either ch8 or RSC_SETPOINT</Description>
      <Values>0:None, 1:Ch8 Input, 2:SetPoint</Values>
      <User>Standard</User>
    </H_RSC_MODE>
    <H_FLYBAR_MODE>
      <DisplayName>Flybar Mode Selector</DisplayName>
      <Description>Flybar present or not.  Affects attitude controller used during ACRO flight mode</Description>
      <Range>0:NoFlybar 1:Flybar</Range>
      <User>Standard</User>
    </H_FLYBAR_MODE>
    <H_LAND_COL_MIN>
      <DisplayName>Landing Collective Minimum</DisplayName>
      <Description>Minimum collective position while landed or landing</Description>
      <Range>0 500</Range>
      <Units>pwm</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_LAND_COL_MIN>
    <H_RSC_RAMP_TIME>
      <DisplayName>RSC Ramp Time</DisplayName>
      <Description>Time in seconds for the output to the main rotor's ESC to reach full speed</Description>
      <Range>0 60</Range>
      <Units>Seconds</Units>
      <User>Standard</User>
    </H_RSC_RAMP_TIME>
    <H_RSC_RUNUP_TIME>
      <DisplayName>RSC Runup Time</DisplayName>
      <Description>Time in seconds for the main rotor to reach full speed.  Must be longer than RSC_RAMP_TIME</Description>
      <Range>0 60</Range>
      <Units>Seconds</Units>
      <User>Standard</User>
    </H_RSC_RUNUP_TIME>
    <H_TAIL_SPEED>
      <DisplayName>Direct Drive VarPitch Tail ESC speed</DisplayName>
      <Description>Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch</Description>
      <Range>0 1000</Range>
      <Units>PWM</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_TAIL_SPEED>
    <SS1_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS1_MIN>
    <SS1_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS1_TRIM>
    <SS1_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS1_MAX>
    <SS1_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </SS1_REV>
    <SS1_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </SS1_DZ>
    <SS2_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS2_MIN>
    <SS2_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS2_TRIM>
    <SS2_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS2_MAX>
    <SS2_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </SS2_REV>
    <SS2_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </SS2_DZ>
    <SS3_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS3_MIN>
    <SS3_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS3_TRIM>
    <SS3_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS3_MAX>
    <SS3_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </SS3_REV>
    <SS3_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </SS3_DZ>
    <SS4_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS4_MIN>
    <SS4_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS4_TRIM>
    <SS4_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </SS4_MAX>
    <SS4_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </SS4_REV>
    <SS4_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </SS4_DZ>
    <MOT_TCRV_ENABLE>
      <DisplayName>Thrust Curve Enable</DisplayName>
      <Description>Controls whether a curve is used to linearize the thrust produced by the motors</Description>
      <User>Advanced</User>
      <Values>0:Disabled,1:Enable</Values>
    </MOT_TCRV_ENABLE>
    <MOT_TCRV_MIDPCT>
      <DisplayName>Thrust Curve mid-point percentage</DisplayName>
      <Description>Set the pwm position that produces half the maximum thrust of the motors</Description>
      <User>Advanced</User>
      <Range>20 80</Range>
      <Increment>1</Increment>
    </MOT_TCRV_MIDPCT>
    <MOT_TCRV_MAXPCT>
      <DisplayName>Thrust Curve max thrust percentage</DisplayName>
      <Description>Set to the lowest pwm position that produces the maximum thrust of the motors.  Most motors produce maximum thrust below the maximum pwm value that they accept.</Description>
      <User>Advanced</User>
      <Range>20 80</Range>
      <Increment>1</Increment>
    </MOT_TCRV_MAXPCT>
    <MOT_SPIN_ARMED>
      <DisplayName>Motors always spin when armed</DisplayName>
      <Description>Controls whether motors always spin when armed (must be below THR_MIN)</Description>
      <Values>0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast</Values>
      <User>Standard</User>
    </MOT_SPIN_ARMED>
    <MOT_REV_ROLL>
      <DisplayName>Reverse roll feedback</DisplayName>
      <Description>Ensure the feedback is negative</Description>
      <Values>-1:Opposite direction,1:Same direction</Values>
    </MOT_REV_ROLL>
    <MOT_REV_PITCH>
      <DisplayName>Reverse pitch feedback</DisplayName>
      <Description>Ensure the feedback is negative</Description>
      <Values>-1:Opposite direction,1:Same direction</Values>
    </MOT_REV_PITCH>
    <MOT_REV_YAW>
      <DisplayName>Reverse yaw feedback</DisplayName>
      <Description>Ensure the feedback is negative</Description>
      <Values>-1:Opposite direction,1:Same direction</Values>
    </MOT_REV_YAW>
    <MOT_SV_SPEED>
      <DisplayName>Servo speed</DisplayName>
      <Description>Servo update speed in hz</Description>
      <Values>50, 125, 250</Values>
    </MOT_SV_SPEED>
    <RCMAP_ROLL>
      <DisplayName>Roll channel</DisplayName>
      <Description>Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_ROLL>
    <RCMAP_PITCH>
      <DisplayName>Pitch channel</DisplayName>
      <Description>Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_PITCH>
    <RCMAP_THROTTLE>
      <DisplayName>Throttle channel</DisplayName>
      <Description>Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_THROTTLE>
    <RCMAP_YAW>
      <DisplayName>Yaw channel</DisplayName>
      <Description>Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_YAW>
    <EKF_VELNE_NOISE>
      <DisplayName>GPS horizontal velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the North and East GPS velocity measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.05 5.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </EKF_VELNE_NOISE>
    <EKF_VELD_NOISE>
      <DisplayName>GPS vertical velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the vertical GPS velocity measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.05 5.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </EKF_VELD_NOISE>
    <EKF_POSNE_NOISE>
      <DisplayName>GPS horizontal position measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_POSNE_NOISE>
    <EKF_ALT_NOISE>
      <DisplayName>Altitude measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_ALT_NOISE>
    <EKF_MAG_NOISE>
      <DisplayName>Magnetometer measurement noise (Gauss)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.01 0.5</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </EKF_MAG_NOISE>
    <EKF_EAS_NOISE>
      <DisplayName>Equivalent airspeed measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.5 5.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_EAS_NOISE>
    <EKF_WIND_PNOISE>
      <DisplayName>Wind velocity process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.</Description>
      <Range>0.01 1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_WIND_PNOISE>
    <EKF_WIND_PSCALE>
      <DisplayName>Height rate to wind procss noise scaler</DisplayName>
      <Description>Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser.</Description>
      <Range>0.0 1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_WIND_PSCALE>
    <EKF_GYRO_PNOISE>
      <DisplayName>Rate gyro noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.</Description>
      <Range>0.001 0.05</Range>
      <Increment>0.001</Increment>
      <User>Advanced</User>
    </EKF_GYRO_PNOISE>
    <EKF_ACC_PNOISE>
      <DisplayName>Accelerometer noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.</Description>
      <Range>0.05 1.0</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </EKF_ACC_PNOISE>
    <EKF_GBIAS_PNOISE>
      <DisplayName>Rate gyro bias process noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.</Description>
      <Range>0.0000001 0.00001</Range>
      <User>Advanced</User>
    </EKF_GBIAS_PNOISE>
    <EKF_ABIAS_PNOISE>
      <DisplayName>Accelerometer bias process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.</Description>
      <Range>0.00001 0.001</Range>
      <User>Advanced</User>
    </EKF_ABIAS_PNOISE>
    <EKF_MAGE_PNOISE>
      <DisplayName>Earth magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier.</Description>
      <Range>0.0001 0.01</Range>
      <User>Advanced</User>
    </EKF_MAGE_PNOISE>
    <EKF_MAGB_PNOISE>
      <DisplayName>Body magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier.</Description>
      <Range>0.0001 0.01</Range>
      <User>Advanced</User>
    </EKF_MAGB_PNOISE>
    <EKF_VEL_DELAY>
      <DisplayName>GPS velocity measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS velocity measurements lag behind the inertial measurements.</Description>
      <Range>0 500</Range>
      <Increment>10</Increment>
      <User>Advanced</User>
    </EKF_VEL_DELAY>
    <EKF_POS_DELAY>
      <DisplayName>GPS position measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS position measurements lag behind the inertial measurements.</Description>
      <Range>0 500</Range>
      <Increment>10</Increment>
      <User>Advanced</User>
    </EKF_POS_DELAY>
    <EKF_GPS_TYPE>
      <DisplayName>GPS velocity mode control</DisplayName>
      <Description>This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity, 3 = use no GPS</Description>
      <Range>0 3</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_GPS_TYPE>
    <EKF_VEL_GATE>
      <DisplayName>GPS velocity measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_VEL_GATE>
    <EKF_POS_GATE>
      <DisplayName>GPS position measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_POS_GATE>
    <EKF_HGT_GATE>
      <DisplayName>Height measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_HGT_GATE>
    <EKF_MAG_GATE>
      <DisplayName>Magnetometer measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_MAG_GATE>
    <EKF_EAS_GATE>
      <DisplayName>Airspeed measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_EAS_GATE>
    <EKF_MAG_CAL>
      <DisplayName>Magnetometer calibration mode</DisplayName>
      <Description>EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.</Description>
      <Values>0:Speed and Height,1:Acceleration,2:Never</Values>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_MAG_CAL>
    <EKF_GLITCH_ACCEL>
      <DisplayName>GPS glitch accel gate size (cm/s^2)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position.</Description>
      <Range>100 500</Range>
      <Increment>50</Increment>
      <User>Advanced</User>
    </EKF_GLITCH_ACCEL>
    <EKF_GLITCH_RAD>
      <DisplayName>GPS glitch radius gate size (m)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement.</Description>
      <Range>10 50</Range>
      <Increment>5</Increment>
      <User>Advanced</User>
    </EKF_GLITCH_RAD>
    <EKF_GND_GRADIENT>
      <DisplayName>Terrain Gradient % RMS</DisplayName>
      <Description>This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values casue the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain.</Description>
      <Range>1 - 50</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_GND_GRADIENT>
    <EKF_FLOW_NOISE>
      <DisplayName>Optical flow measurement noise (rad/s)</DisplayName>
      <Description>This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.05 - 1.0</Range>
      <Increment>0.05</Increment>
      <User>advanced</User>
    </EKF_FLOW_NOISE>
    <EKF_FLOW_GATE>
      <DisplayName>Optical Flow measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_FLOW_GATE>
    <EKF_FLOW_DELAY>
      <DisplayName>Optical Flow measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.</Description>
      <Range>0 - 500</Range>
      <Increment>10</Increment>
      <User>advanced</User>
    </EKF_FLOW_DELAY>
    <EKF_RNG_GATE>
      <DisplayName>Range finder measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_RNG_GATE>
    <EKF_MAX_FLOW>
      <DisplayName>Maximum valid optical flow rate</DisplayName>
      <Description>This parameter sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter</Description>
      <Range>1.0 - 4.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_MAX_FLOW>
    <EKF_FALLBACK>
      <DisplayName>Fallback strictness</DisplayName>
      <Description>This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more.</Description>
      <Values>0:Trust EKF more, 1:Trust DCM more</Values>
      <User>Advanced</User>
    </EKF_FALLBACK>
    <MIS_TOTAL>
      <DisplayName>Total mission commands</DisplayName>
      <Description>The number of mission mission items that has been loaded by the ground station. Do not change this manually.</Description>
      <Range>0 32766</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </MIS_TOTAL>
    <MIS_RESTART>
      <DisplayName>Mission Restart when entering Auto mode</DisplayName>
      <Description>Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)</Description>
      <Values>0:Resume Mission, 1:Restart Mission</Values>
    </MIS_RESTART>
    <RNGFND_TYPE>
      <DisplayName>Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C</Values>
    </RNGFND_TYPE>
    <RNGFND_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND_PIN>
    <RNGFND_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND_SCALING>
    <RNGFND_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND_OFFSET>
    <RNGFND_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND_FUNCTION>
    <RNGFND_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MIN_CM>
    <RNGFND_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MAX_CM>
    <RNGFND_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND_STOP_PIN>
    <RNGFND_SETTLE>
      <DisplayName>Rangefinder settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND_SETTLE>
    <RNGFND_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND_RMETRIC>
    <RNGFND2_TYPE>
      <DisplayName>Second Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C</Values>
    </RNGFND2_TYPE>
    <RNGFND2_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND2_PIN>
    <RNGFND2_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND2_SCALING>
    <RNGFND2_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND2_OFFSET>
    <RNGFND2_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND2_FUNCTION>
    <RNGFND2_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MIN_CM>
    <RNGFND2_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MAX_CM>
    <RNGFND2_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND2_STOP_PIN>
    <RNGFND2_SETTLE>
      <DisplayName>Sonar settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND2_SETTLE>
    <RNGFND2_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND2_RMETRIC>
    <TERRAIN_ENABLE>
      <DisplayName>Terrain data enable</DisplayName>
      <Description>enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.</Description>
      <Values>0:Disable,1:Enable</Values>
    </TERRAIN_ENABLE>
    <TERRAIN_SPACING>
      <DisplayName>Terrain grid spacing</DisplayName>
      <Description>Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.</Description>
      <Units>meters</Units>
      <Increment>1</Increment>
    </TERRAIN_SPACING>
    <FLOWENABLE>
      <DisplayName>Optical flow enable/disable</DisplayName>
      <Description>Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow</Description>
      <Values>0:Disabled, 1:Enabled</Values>
      <User>Standard</User>
    </FLOWENABLE>
    <FLOWFXSCALER>
      <DisplayName>X axis optical flow scale factor correction</DisplayName>
      <Description>This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.</Description>
      <Range>-200 +200</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FLOWFXSCALER>
    <FLOWFYSCALER>
      <DisplayName>Y axis optical flow scale factor correction</DisplayName>
      <Description>This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.</Description>
      <Range>-200 +200</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FLOWFYSCALER>
    <SYSID_SW_MREV>
      <DisplayName>EEEPROM格式版本号</DisplayName>
      <Description>This value is incremented when changes are made to the eeprom format</Description>
      <User>Advanced</User>
    </SYSID_SW_MREV>
    <SYSID_SW_TYPE>
      <DisplayName>Software Type</DisplayName>
      <Description>This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)</Description>
      <Values>0:ArduPlane,4:AntennaTracker,10:Copter,20:Rover</Values>
      <User>Advanced</User>
    </SYSID_SW_TYPE>
    <SYSID_THISMAV>
      <DisplayName>Mavlink version</DisplayName>
      <Description>Allows reconising the mavlink version</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_THISMAV>
    <SYSID_MYGCS>
      <DisplayName>我的地面站编号</DisplayName>
      <Description>允许限制无线电覆盖，只能来自于我的地面站</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_MYGCS>
    <SERIAL0_BAUD>
      <DisplayName>USB控制台波特率</DisplayName>
      <Description>在USB控制台上使用的波特率. APM2可以支持所有波特率高达115, 也可以支持500. PX4可以支持多达1500. 如果你设置一个速率不支持APM2然后不能连接到你的飞机应该从不同的模型加载固件. 这将重置所有默认值参数.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL0_BAUD>
    <SERIAL1_BAUD>
      <DisplayName>遥测波特率</DisplayName>
      <Description>第一个遥测端口上使用的波特率. APM2可以支持所有波特率高达115, 也可以支持500. PX4可以支持多达1500. 如果你设置一个速率不支持APM2然后不能连接到你的飞机应该从不同的模型加载固件. 这将重置所有默认值参数.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL1_BAUD>
    <SERIAL2_BAUD>
      <DisplayName>遥测波特率</DisplayName>
      <Description>在第二个遥测端口使用的波特率. APM2可以支持所有波特率高达115, 也可以支持500. PX4可以支持多达1500. 如果你设置一个速率不支持APM2然后不能连接到你的飞机应该从不同的模型加载固件. 这将重置所有默认值参数.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL2_BAUD>
    <SERIAL2_PROTOCOL>
      <DisplayName>串口2协议选择</DisplayName>
      <Description>控制哪一种协议用于遥测2端口</Description>
      <Values>1:GCS Mavlink,2:Frsky D-PORT</Values>
      <User>Standard</User>
    </SERIAL2_PROTOCOL>
    <TELEM_DELAY>
      <DisplayName>遥测的启动延迟</DisplayName>
      <Description>这个时间量 (以秒为单位)来推迟无线电遥测，防止Xbee上电的时候变砖</Description>
      <User>Advanced</User>
      <Units>seconds</Units>
      <Range>0 10</Range>
      <Increment>1</Increment>
    </TELEM_DELAY>
    <RTL_ALT>
      <DisplayName>RTL海拔高度</DisplayName>
      <Description>最低海拔高度飞机将移动并返回到之前的起飞点.设置为0则保持目前的高度返回.</Description>
      <Units>Centimeters</Units>
      <Range>0 8000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RTL_ALT>
    <RNGFND_GAIN>
      <DisplayName>测距仪增益</DisplayName>
      <Description>当检测目标在飞行器下方时用来改变和调节速度和目标高度</Description>
      <Range>0.01 2.0</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RNGFND_GAIN>
    <FS_BATT_ENABLE>
      <DisplayName>电池的故障保护启用</DisplayName>
      <Description>当电池电压或电流较低的运行时用于控制是否调用失控保护</Description>
      <Values>0:禁用,1:降落,2:RTL返航</Values>
      <User>Standard</User>
    </FS_BATT_ENABLE>
    <FS_BATT_VOLTAGE>
      <DisplayName>失控保护电池的电压</DisplayName>
      <Description>电池电压触发失控保护.设置为0禁用电池电压失控保护. 如果电池电压低于这个电压,那么这架飞机将RTL</Description>
      <Units>Volts</Units>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </FS_BATT_VOLTAGE>
    <FS_BATT_MAH>
      <DisplayName>失控保护时的mah数</DisplayName>
      <Description>电池剩余容量引发失控保护. 设置为0来禁用电池剩余电量的失控保护. 如果电池余下电量低于此水平，那么该飞行器将RTL</Description>
      <Units>mAh</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </FS_BATT_MAH>
    <FS_GPS_ENABLE>
      <DisplayName>GPS失控保护启用</DisplayName>
      <Description>控制飞行器采取什么行动，如果GPS信号丢失超过5秒</Description>
      <Values>0:禁用,1:降落,2:定高,3:Land even from Stabilize</Values>
      <User>Standard</User>
    </FS_GPS_ENABLE>
    <FS_GCS_ENABLE>
      <DisplayName>地面站失控保护启用</DisplayName>
      <Description>控制失控保护是否会被调用（以及采取什么样的行动）时，失去了至少5秒与地面站的连接. NB. GCS失控保护只有当RC_OVERRIDE被用来控制车辆。</Description>
      <Values>0:禁用,1:始终启用RTL,2:启用在自动模式下继续执行任务</Values>
      <User>Standard</User>
    </FS_GCS_ENABLE>
    <GPS_HDOP_GOOD>
      <DisplayName>GPS Hdop Good</DisplayName>
      <Description>GPS Hdop值等于或者低于这个值代表一个好的方位.用来解锁检查。</Description>
      <Range>100 900</Range>
      <User>Advanced</User>
    </GPS_HDOP_GOOD>
    <MAG_ENABLE>
      <DisplayName>罗盘 启动/关闭</DisplayName>
      <Description>设置为（1）将启用罗盘。设置（0）将禁用罗盘。</Description>
      <Values>0:禁用,1:启用</Values>
      <User>Standard</User>
    </MAG_ENABLE>
    <SUPER_SIMPLE>
      <DisplayName>超级简单模式</DisplayName>
      <Description>对于一些飞行模式选位代码来启用超级简单模式. 此设置为Disabled（0）将禁用超级简单模式</Description>
      <Values>0:禁用,1:Mode1,2:Mode2,3:Mode1+2,4:Mode3,5:Mode1+3,6:Mode2+3,7:Mode1+2+3,8:Mode4,9:Mode1+4,10:Mode2+4,11:Mode1+2+4,12:Mode3+4,13:Mode1+3+4,14:Mode2+3+4,15:Mode1+2+3+4,16:Mode5,17:Mode1+5,18:Mode2+5,19:Mode1+2+5,20:Mode3+5,21:Mode1+3+5,22:Mode2+3+5,23:Mode1+2+3+5,24:Mode4+5,25:Mode1+4+5,26:Mode2+4+5,27:Mode1+2+4+5,28:Mode3+4+5,29:Mode1+3+4+5,30:Mode2+3+4+5,31:Mode1+2+3+4+5,32:Mode6,33:Mode1+6,34:Mode2+6,35:Mode1+2+6,36:Mode3+6,37:Mode1+3+6,38:Mode2+3+6,39:Mode1+2+3+6,40:Mode4+6,41:Mode1+4+6,42:Mode2+4+6,43:Mode1+2+4+6,44:Mode3+4+6,45:Mode1+3+4+6,46:Mode2+3+4+6,47:Mode1+2+3+4+6,48:Mode5+6,49:Mode1+5+6,50:Mode2+5+6,51:Mode1+2+5+6,52:Mode3+5+6,53:Mode1+3+5+6,54:Mode2+3+5+6,55:Mode1+2+3+5+6,56:Mode4+5+6,57:Mode1+4+5+6,58:Mode2+4+5+6,59:Mode1+2+4+5+6,60:Mode3+4+5+6,61:Mode1+3+4+5+6,62:Mode2+3+4+5+6,63:Mode1+2+3+4+5+6</Values>
      <User>Standard</User>
    </SUPER_SIMPLE>
    <RTL_ALT_FINAL>
      <DisplayName>RTL最后海拔高度</DisplayName>
      <Description>这里的高度是指当飞行器完成任务移动并返回到起飞点的最后阶段的高度. 设置为0则降落。</Description>
      <Units>Centimeters</Units>
      <Range>-1 1000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RTL_ALT_FINAL>
    <RSSI_PIN>
      <DisplayName>接收机RSSI检测引脚</DisplayName>
      <Description>这将选择一个模拟引脚接收RSSI电压.它假定这个电压是RSSI_RANGE为最大RSSI, 0V最小</Description>
      <Values>-1:禁用, 0:APM2 A0, 1:APM2 A1, 2:APM2 A2, 13:APM2 A13, 103:Pixhawk SBUS</Values>
      <User>Standard</User>
    </RSSI_PIN>
    <RSSI_RANGE>
      <DisplayName>接收机RSSI电压范围</DisplayName>
      <Description>接收机RSSI电压范围</Description>
      <Units>Volt</Units>
      <Values>3.3:3.3V, 5:5V</Values>
      <User>Standard</User>
    </RSSI_RANGE>
    <WP_YAW_BEHAVIOR>
      <DisplayName>在执行任务的yaw的行为</DisplayName>
      <Description>判断自动驾驶仪如何控制yaw的动作在执行任务和RTL时</Description>
      <Values>0:机头不改变方向, 1:机头朝着下一个航点, 2:机头朝着下一个航点除了RTL, 3:机头沿着gps方向</Values>
      <User>Standard</User>
    </WP_YAW_BEHAVIOR>
    <RTL_LOIT_TIME>
      <DisplayName>RTL loiter 的时间</DisplayName>
      <Description>在开始最后下降前悬停在家的上方的时间(毫秒)</Description>
      <Units>ms</Units>
      <Range>0 60000</Range>
      <Increment>1000</Increment>
      <User>Standard</User>
    </RTL_LOIT_TIME>
    <LAND_SPEED>
      <DisplayName>降落速度</DisplayName>
      <Description>着陆的最后阶段的下降速度cm/s</Description>
      <Units>cm/s</Units>
      <Range>30 200</Range>
      <Increment>10</Increment>
      <User>Standard</User>
    </LAND_SPEED>
    <PILOT_VELZ_MAX>
      <DisplayName>驾驶仪最大垂直速度</DisplayName>
      <Description>驾驶仪可以要求的最大垂直速度以cm/s</Description>
      <Units>Centimeters/Second</Units>
      <Range>50 500</Range>
      <Increment>10</Increment>
      <User>Standard</User>
    </PILOT_VELZ_MAX>
    <PILOT_ACCEL_Z>
      <DisplayName>驾驶仪垂直加速度</DisplayName>
      <Description>当驾驶仪使用的垂直加速度控制高度</Description>
      <Units>cm/s/s</Units>
      <Range>50 500</Range>
      <Increment>10</Increment>
      <User>Standard</User>
    </PILOT_ACCEL_Z>
    <THR_MIN>
      <DisplayName>最小油门</DisplayName>
      <Description>最小油门值将发送到电机以保持他们旋转</Description>
      <Units>Percent*10</Units>
      <Range>0 300</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MIN>
    <THR_MAX>
      <DisplayName>最大油门</DisplayName>
      <Description>最大油门桨发送给电机.这通常应保留为1000。</Description>
      <Units>Percent*10</Units>
      <Range>800 1000</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </THR_MAX>
    <FS_THR_ENABLE>
      <DisplayName>油门失控保护启动</DisplayName>
      <Description>这个油门失控保护允许你配置软件失控保护激活设置的油门输出通道上</Description>
      <Values>0:禁用,1:启用总是RTL,2:启用自动模式继续任务,3:启用总是降落</Values>
      <User>Standard</User>
    </FS_THR_ENABLE>
    <FS_THR_VALUE>
      <DisplayName>油门失控保护的值</DisplayName>
      <Description>3通道上的PWM水平低于油门失控保护的值</Description>
      <Range>925 1100</Range>
      <Units>pwm</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </FS_THR_VALUE>
    <TRIM_THROTTLE>
      <DisplayName>油门微调</DisplayName>
      <Description>自动驾驶仪估算的油门要求保持一个水平悬停. 自动计算自动驾驶仪的油门输入同时在自稳模式下</Description>
      <Range>0 1000</Range>
      <Units>Percent*10</Units>
      <User>Advanced</User>
    </TRIM_THROTTLE>
    <THR_MID>
      <DisplayName>油门中位点</DisplayName>
      <Description>油门输出（0〜1000），当油门处于中间位置.用于按比例手动油门，使中间油门位置接近悬停所需的油门</Description>
      <User>Standard</User>
      <Range>300 700</Range>
      <Units>Percent*10</Units>
      <Increment>1</Increment>
    </THR_MID>
    <THR_DZ>
      <DisplayName>油门盲区</DisplayName>
      <Description>油门中位的上和下的死区. 用于AltHold, Loiter, PosHold 飞行模式</Description>
      <User>Standard</User>
      <Range>0 300</Range>
      <Units>pwm</Units>
      <Increment>1</Increment>
    </THR_DZ>
    <FLTMODE1>
      <DisplayName>飞行模式 1</DisplayName>
      <Description>当5通道 pwm &lt;= 1230时的飞行模式是</Description>
      <Values>0:自稳Stabilize,1:特技Acro,2:定高AltHold,3:自动Auto,4:引导Guided,5:留待Loiter,6:返航RTL,7:绕圈Circle,9:降落Land,10:光流留待OF_Loiter,11:飘移Drift,13:运动Sport,16:定点PosHold</Values>
      <User>Standard</User>
    </FLTMODE1>
    <FLTMODE2>
      <DisplayName>飞行模式 2</DisplayName>
      <Description>当通道5 pwm &gt;1230, &lt;= 1360时的飞行模式是</Description>
      <Values>0:自稳Stabilize,1:特技Acro,2:定高AltHold,3:自动Auto,4:引导Guided,5:留待Loiter,6:返航RTL,7:绕圈Circle,9:降落Land,10:光流留待OF_Loiter,11:飘移Drift,13:运动Sport,16:定点PosHold</Values>
      <User>Standard</User>
    </FLTMODE2>
    <FLTMODE3>
      <DisplayName>飞行模式 3</DisplayName>
      <Description>当5通道 5 pwm &gt;1360, &lt;= 1490时的飞行模式是</Description>
      <Values>0:自稳Stabilize,1:特技Acro,2:定高AltHold,3:自动Auto,4:引导Guided,5:留待Loiter,6:返航RTL,7:绕圈Circle,9:降落Land,10:光流留待OF_Loiter,11:飘移Drift,13:运动Sport,16:定点PosHold</Values>
      <User>Standard</User>
    </FLTMODE3>
    <FLTMODE4>
      <DisplayName>飞行模式 4</DisplayName>
      <Description>当通道5 pwm &gt;1490, &lt;= 1620时的飞行模式是</Description>
      <Values>0:自稳Stabilize,1:特技Acro,2:定高AltHold,3:自动Auto,4:引导Guided,5:留待Loiter,6:返航RTL,7:绕圈Circle,9:降落Land,10:光流留待OF_Loiter,11:飘移Drift,13:运动Sport,16:定点PosHold</Values>
      <User>Standard</User>
    </FLTMODE4>
    <FLTMODE5>
      <DisplayName>飞行模式 5</DisplayName>
      <Description>当通道5 pwm &gt;1620, &lt;= 1749时的飞行模式是</Description>
      <Values>0:自稳Stabilize,1:特技Acro,2:定高AltHold,3:自动Auto,4:引导Guided,5:留待Loiter,6:返航RTL,7:绕圈Circle,9:降落Land,10:光流留待OF_Loiter,11:飘移Drift,13:运动Sport,16:定点PosHold</Values>
      <User>Standard</User>
    </FLTMODE5>
    <FLTMODE6>
      <DisplayName>飞行模式 6</DisplayName>
      <Description>当通道5 pwm &gt;=1750时的飞行模式是</Description>
      <Values>0:自稳Stabilize,1:特技Acro,2:定高AltHold,3:自动Auto,4:引导Guided,5:留待Loiter,6:返航RTL,7:绕圈Circle,9:降落Land,10:光流留待OF_Loiter,11:飘移Drift,13:运动Sport,16:定点PosHold</Values>
      <User>Standard</User>
    </FLTMODE6>
    <SIMPLE>
      <DisplayName>简单模式位映射</DisplayName>
      <Description>位映射持有这飞行模式使用简单的标题模式(如位0 = 1意味着飞行模式0使用简单的模式)</Description>
      <User>Advanced</User>
    </SIMPLE>
    <LOG_BITMASK>
      <DisplayName>日志位映射</DisplayName>
      <Description>4字节位映射的日志类型启用</Description>
      <Values>830:默认,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,43006:NearlyAll,131070:All+DisarmedLogging,0:禁用</Values>
      <User>Standard</User>
    </LOG_BITMASK>
    <ESC>
      <DisplayName>电调校准</DisplayName>
      <Description>控制ArduCopter是否会在下一个重启时进入电调校准。不要手动调整该参数。</Description>
      <User>Advanced</User>
      <Values>0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle</Values>
    </ESC>
    <TUNE>
      <DisplayName>通道6调参</DisplayName>
      <Description>控制哪些参数（通常PID收益）正在调整与发射器的频道6旋钮</Description>
      <User>Standard</User>
      <Values>0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,42:Loiter Speed,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF</Values>
    </TUNE>
    <TUNE_LOW>
      <DisplayName>最小调参值</DisplayName>
      <Description>通道6旋钮的参数的最小值将被应用到当前被调整的发射器上</Description>
      <User>Standard</User>
      <Range>0 32767</Range>
    </TUNE_LOW>
    <TUNE_HIGH>
      <DisplayName>最大调参值</DisplayName>
      <Description>通道6旋钮的参数的最大值将被应用到当前被调整的发射器上</Description>
      <User>Standard</User>
      <Range>0 32767</Range>
    </TUNE_HIGH>
    <FRAME>
      <DisplayName>针脚方向 (+, X or V)</DisplayName>
      <Description>控制混合电机的多轴飞行器.不能用在三轴或传统直升机上</Description>
      <Values>0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B (New)</Values>
      <User>Standard</User>
    </FRAME>
    <CH7_OPT>
      <DisplayName>第7通道选项</DisplayName>
      <Description>如果在CH7超过1800 PWM进行选择哪些功能</Description>
      <Values>0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off</Values>
      <User>Standard</User>
    </CH7_OPT>
    <CH8_OPT>
      <DisplayName>第8通道选项</DisplayName>
      <Description>如果在CH8超过1800 PWM进行选择哪些功能</Description>
      <Values>0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off</Values>
      <User>Standard</User>
    </CH8_OPT>
    <ARMING_CHECK>
      <DisplayName>解锁检查</DisplayName>
      <Description>可以启用或禁用的接收器，加速度计，气压计，罗盘和GPS预先解锁检查</Description>
      <Values>0:禁用, 1:启用, -3:跳过气压, -5:跳过罗盘, -9:跳过gps, -17:跳过加速度计, -33:跳过参数, -65:跳过遥控器, 127:跳过电压</Values>
      <User>Standard</User>
    </ARMING_CHECK>
    <ANGLE_MAX>
      <DisplayName>最大角度</DisplayName>
      <Description>在所有的飞行模式的最大倾斜角度</Description>
      <Units>Centi-degrees</Units>
      <User>Advanced</User>
    </ANGLE_MAX>
    <RC_FEEL_RP>
      <DisplayName>roll/pitch的遥控感度</DisplayName>
      <Description>roll/pitch的遥控手感，用于控制载具对用户输入的反应，设为0变得极度柔和，100会变得极度干脆</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
      <Values>0:很柔和, 25:柔和, 50:中等, 75:干脆, 100:很干脆</Values>
    </RC_FEEL_RP>
    <PHLD_BRAKE_RATE>
      <DisplayName>PosHold 刹车速率</DisplayName>
      <Description>poshold飞行模式的旋转速度以多少度/秒制动</Description>
      <Units>deg/sec</Units>
      <Range>4 12</Range>
      <User>Advanced</User>
    </PHLD_BRAKE_RATE>
    <PHLD_BRAKE_ANGLE>
      <DisplayName>PosHold 刹车最大角度</DisplayName>
      <Description>poshold飞行模式的最大倾斜角度，以多少角度制动</Description>
      <Units>Centi-degrees</Units>
      <Range>2000 4500</Range>
      <User>Advanced</User>
    </PHLD_BRAKE_ANGLE>
    <LAND_REPOSITION>
      <DisplayName>降落重新定位</DisplayName>
      <Description>启用用户输入在LAND模式，RTL的着陆阶段和自动模式降落</Description>
      <Values>0:不重新定位, 1:重新定位</Values>
      <User>Advanced</User>
    </LAND_REPOSITION>
    <EKF_CHECK_THRESH>
      <DisplayName>EKF检查罗盘和速度变化的阈值</DisplayName>
      <Description>允许设置的最大可接受罗盘和速度变化（0禁用检查）</Description>
      <Values>0:禁用, 0.8:默认, 1.0:舒适的</Values>
      <User>Advanced</User>
    </EKF_CHECK_THRESH>
    <DCM_CHECK_THRESH>
      <DisplayName>DCM偏航误差阈值</DisplayName>
      <Description>允许设置可接受的最大偏航误差作为偏航误差（0禁用检查）</Description>
      <Values>0:禁用, 0.8:默认, 0.98:舒适的</Values>
      <User>Advanced</User>
      <Group>HS1_</Group>
      <Path>../libraries/RC_Channel/RC_Channel.cpp</Path>
    </DCM_CHECK_THRESH>
    <H_STAB_COL_MIN>
      <DisplayName>Heli Stabilize Throttle Collective Minimum</DisplayName>
      <Description>Helicopter's minimum collective position while pilot directly controls collective in stabilize mode</Description>
      <Range>0 500</Range>
      <Units>Percent*10</Units>
      <Increment>1</Increment>
      <User>Standard</User>
    </H_STAB_COL_MIN>
    <H_STAB_COL_MAX>
      <DisplayName>Stabilize Throttle Maximum</DisplayName>
      <Description>Helicopter's maximum collective position while pilot directly controls collective in stabilize mode</Description>
      <Range>500 1000</Range>
      <Units>Percent*10</Units>
      <Increment>1</Increment>
      <User>Standard</User>
      <Group>RC1_</Group>
      <Path>../libraries/RC_Channel/RC_Channel.cpp</Path>
    </H_STAB_COL_MAX>
    <RC_SPEED>
      <DisplayName>ESC Update Speed</DisplayName>
      <Description>This is the speed in Hertz that your ESCs will receive updates</Description>
      <Units>Hz</Units>
      <Range>50 490</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC_SPEED>
    <ACRO_RP_P>
      <DisplayName>Acro Roll and Pitch P gain</DisplayName>
      <Description>Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation.</Description>
      <Range>1 10</Range>
      <User>Standard</User>
    </ACRO_RP_P>
    <ACRO_YAW_P>
      <DisplayName>Acro Yaw P gain</DisplayName>
      <Description>Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation.</Description>
      <Range>1 10</Range>
      <User>Standard</User>
    </ACRO_YAW_P>
    <ACRO_BAL_ROLL>
      <DisplayName>Acro Balance Roll</DisplayName>
      <Description>rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster.</Description>
      <Range>0 3</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </ACRO_BAL_ROLL>
    <ACRO_BAL_PITCH>
      <DisplayName>Acro Balance Pitch</DisplayName>
      <Description>rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster.</Description>
      <Range>0 3</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </ACRO_BAL_PITCH>
    <ACRO_TRAINER>
      <DisplayName>Acro Trainer</DisplayName>
      <Description>Type of trainer used in acro mode</Description>
      <Values>0:Disabled,1:Leveling,2:Leveling and Limited</Values>
      <User>Advanced</User>
    </ACRO_TRAINER>
    <ACRO_EXPO>
      <DisplayName>Acro Expo</DisplayName>
      <Description>Acro roll/pitch Expo to allow faster rotation when stick at edges</Description>
      <Values>0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High</Values>
      <User>Advanced</User>
    </ACRO_EXPO>
    <RATE_RLL_P>
      <DisplayName>Roll axis rate controller P gain</DisplayName>
      <Description>Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output</Description>
      <Range>0.08 0.25</Range>
      <Increment>0.005</Increment>
      <User>Standard</User>
    </RATE_RLL_P>
    <RATE_RLL_I>
      <DisplayName>Roll axis rate controller I gain</DisplayName>
      <Description>Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate</Description>
      <Range>0.01 0.5</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RATE_RLL_I>
    <RATE_RLL_IMAX>
      <DisplayName>Roll axis rate controller I gain maximum</DisplayName>
      <Description>Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output</Description>
      <Range>0 4500</Range>
      <Increment>10</Increment>
      <Units>Percent*10</Units>
      <User>Standard</User>
    </RATE_RLL_IMAX>
    <RATE_RLL_D>
      <DisplayName>Roll axis rate controller D gain</DisplayName>
      <Description>Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate</Description>
      <Range>0.001 0.02</Range>
      <Increment>0.001</Increment>
      <User>Standard</User>
    </RATE_RLL_D>
    <RATE_PIT_P>
      <DisplayName>Pitch axis rate controller P gain</DisplayName>
      <Description>Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output</Description>
      <Range>0.08 0.25</Range>
      <Increment>0.005</Increment>
      <User>Standard</User>
    </RATE_PIT_P>
    <RATE_PIT_I>
      <DisplayName>Pitch axis rate controller I gain</DisplayName>
      <Description>Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate</Description>
      <Range>0.01 0.5</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RATE_PIT_I>
    <RATE_PIT_IMAX>
      <DisplayName>Pitch axis rate controller I gain maximum</DisplayName>
      <Description>Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output</Description>
      <Range>0 4500</Range>
      <Increment>10</Increment>
      <Units>Percent*10</Units>
      <User>Standard</User>
    </RATE_PIT_IMAX>
    <RATE_PIT_D>
      <DisplayName>Pitch axis rate controller D gain</DisplayName>
      <Description>Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate</Description>
      <Range>0.001 0.02</Range>
      <Increment>0.001</Increment>
      <User>Standard</User>
    </RATE_PIT_D>
    <RATE_YAW_P>
      <DisplayName>Yaw axis rate controller P gain</DisplayName>
      <Description>Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output</Description>
      <Range>0.150 0.50</Range>
      <Increment>0.005</Increment>
      <User>Standard</User>
    </RATE_YAW_P>
    <RATE_YAW_I>
      <DisplayName>Yaw axis rate controller I gain</DisplayName>
      <Description>Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate</Description>
      <Range>0.010 0.05</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </RATE_YAW_I>
    <RATE_YAW_IMAX>
      <DisplayName>Yaw axis rate controller I gain maximum</DisplayName>
      <Description>Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output</Description>
      <Range>0 4500</Range>
      <Increment>10</Increment>
      <Units>Percent*10</Units>
      <User>Standard</User>
    </RATE_YAW_IMAX>
    <RATE_YAW_D>
      <DisplayName>Yaw axis rate controller D gain</DisplayName>
      <Description>Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate</Description>
      <Range>0.000 0.02</Range>
      <Increment>0.001</Increment>
      <User>Standard</User>
    </RATE_YAW_D>
    <LOITER_LAT_P>
      <DisplayName>Loiter latitude rate controller P gain</DisplayName>
      <Description>Loiter latitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the latitude direction</Description>
      <Range>0.1 6.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </LOITER_LAT_P>
    <LOITER_LAT_I>
      <DisplayName>Loiter latitude rate controller I gain</DisplayName>
      <Description>Loiter latitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the latitude direction</Description>
      <Range>0.02 1.00</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </LOITER_LAT_I>
    <LOITER_LAT_IMAX>
      <DisplayName>Loiter rate controller I gain maximum</DisplayName>
      <Description>Loiter rate controller I gain maximum.  Constrains the lean angle that the I gain will output</Description>
      <Range>0 4500</Range>
      <Increment>10</Increment>
      <Units>Centi-Degrees</Units>
      <User>Advanced</User>
    </LOITER_LAT_IMAX>
    <LOITER_LAT_D>
      <DisplayName>Loiter latitude rate controller D gain</DisplayName>
      <Description>Loiter latitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed</Description>
      <Range>0.0 0.6</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </LOITER_LAT_D>
    <LOITER_LON_P>
      <DisplayName>Loiter longitude rate controller P gain</DisplayName>
      <Description>Loiter longitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the longitude direction</Description>
      <Range>0.1 6.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </LOITER_LON_P>
    <LOITER_LON_I>
      <DisplayName>Loiter longitude rate controller I gain</DisplayName>
      <Description>Loiter longitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the longitude direction</Description>
      <Range>0.02 1.00</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </LOITER_LON_I>
    <LOITER_LON_IMAX>
      <DisplayName>Loiter longitude rate controller I gain maximum</DisplayName>
      <Description>Loiter longitude rate controller I gain maximum.  Constrains the lean angle that the I gain will output</Description>
      <Range>0 4500</Range>
      <Increment>10</Increment>
      <Units>Centi-Degrees</Units>
      <User>Advanced</User>
    </LOITER_LON_IMAX>
    <LOITER_LON_D>
      <DisplayName>Loiter longituderate controller D gain</DisplayName>
      <Description>Loiter longitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed</Description>
      <Range>0.0 0.6</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </LOITER_LON_D>
    <THR_RATE_P>
      <DisplayName>Throttle rate controller P gain</DisplayName>
      <Description>Throttle rate controller P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller</Description>
      <Range>1.000 8.000</Range>
      <User>Standard</User>
    </THR_RATE_P>
    <THR_RATE_I>
      <DisplayName>Throttle rate controller I gain</DisplayName>
      <Description>Throttle rate controller I gain.  Corrects long-term difference in desired vertical speed and actual speed</Description>
      <Range>0.000 0.100</Range>
      <User>Standard</User>
    </THR_RATE_I>
    <THR_RATE_IMAX>
      <DisplayName>Throttle rate controller I gain maximum</DisplayName>
      <Description>Throttle rate controller I gain maximum.  Constrains the desired acceleration that the I gain will generate</Description>
      <Range>0 500</Range>
      <Units>cm/s/s</Units>
      <User>Standard</User>
    </THR_RATE_IMAX>
    <THR_RATE_D>
      <DisplayName>Throttle rate controller D gain</DisplayName>
      <Description>Throttle rate controller D gain.  Compensates for short-term change in desired vertical speed vs actual speed</Description>
      <Range>0.000 0.400</Range>
      <User>Standard</User>
    </THR_RATE_D>
    <THR_ACCEL_P>
      <DisplayName>Throttle acceleration controller P gain</DisplayName>
      <Description>Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output</Description>
      <Range>0.500 1.500</Range>
      <User>Standard</User>
    </THR_ACCEL_P>
    <THR_ACCEL_I>
      <DisplayName>Throttle acceleration controller I gain</DisplayName>
      <Description>Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration</Description>
      <Range>0.000 3.000</Range>
      <User>Standard</User>
    </THR_ACCEL_I>
    <THR_ACCEL_IMAX>
      <DisplayName>Throttle acceleration controller I gain maximum</DisplayName>
      <Description>Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate</Description>
      <Range>0 1000</Range>
      <Units>Percent*10</Units>
      <User>Standard</User>
    </THR_ACCEL_IMAX>
    <THR_ACCEL_D>
      <DisplayName>Throttle acceleration controller D gain</DisplayName>
      <Description>Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration</Description>
      <Range>0.000 0.400</Range>
      <User>Standard</User>
    </THR_ACCEL_D>
    <OF_RLL_P>
      <DisplayName>Optical Flow based loiter controller roll axis P gain</DisplayName>
      <Description>Optical Flow based loiter controller roll axis P gain.  Converts the position error from the target point to a roll angle</Description>
      <Range>2.000 3.000</Range>
      <User>Standard</User>
    </OF_RLL_P>
    <OF_RLL_I>
      <DisplayName>Optical Flow based loiter controller roll axis I gain</DisplayName>
      <Description>Optical Flow based loiter controller roll axis I gain.  Corrects long-term position error by more persistently rolling left or right</Description>
      <Range>0.250 0.750</Range>
      <User>Standard</User>
    </OF_RLL_I>
    <OF_RLL_IMAX>
      <DisplayName>Optical Flow based loiter controller roll axis I gain maximum</DisplayName>
      <Description>Optical Flow based loiter controller roll axis I gain maximum.  Constrains the maximum roll angle that the I term will generate</Description>
      <Range>0 4500</Range>
      <Units>Centi-Degrees</Units>
      <User>Standard</User>
    </OF_RLL_IMAX>
    <OF_RLL_D>
      <DisplayName>Optical Flow based loiter controller roll axis D gain</DisplayName>
      <Description>Optical Flow based loiter controller roll axis D gain.  Compensates for short-term change in speed in the roll direction</Description>
      <Range>0.100 0.140</Range>
      <User>Standard</User>
    </OF_RLL_D>
    <OF_PIT_P>
      <DisplayName>Optical Flow based loiter controller pitch axis P gain</DisplayName>
      <Description>Optical Flow based loiter controller pitch axis P gain.  Converts the position error from the target point to a pitch angle</Description>
      <Range>2.000 3.000</Range>
      <User>Standard</User>
    </OF_PIT_P>
    <OF_PIT_I>
      <DisplayName>Optical Flow based loiter controller pitch axis I gain</DisplayName>
      <Description>Optical Flow based loiter controller pitch axis I gain.  Corrects long-term position error by more persistently pitching left or right</Description>
      <Range>0.250 0.750</Range>
      <User>Standard</User>
    </OF_PIT_I>
    <OF_PIT_IMAX>
      <DisplayName>Optical Flow based loiter controller pitch axis I gain maximum</DisplayName>
      <Description>Optical Flow based loiter controller pitch axis I gain maximum.  Constrains the maximum pitch angle that the I term will generate</Description>
      <Range>0 4500</Range>
      <Units>Centi-Degrees</Units>
      <User>Standard</User>
    </OF_PIT_IMAX>
    <OF_PIT_D>
      <DisplayName>Optical Flow based loiter controller pitch axis D gain</DisplayName>
      <Description>Optical Flow based loiter controller pitch axis D gain.  Compensates for short-term change in speed in the pitch direction</Description>
      <Range>0.100 0.140</Range>
      <User>Standard</User>
    </OF_PIT_D>
    <STB_RLL_P>
      <DisplayName>Roll axis stabilize controller P gain</DisplayName>
      <Description>Roll axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate</Description>
      <Range>3.000 12.000</Range>
      <User>Standard</User>
    </STB_RLL_P>
    <STB_PIT_P>
      <DisplayName>Pitch axis stabilize controller P gain</DisplayName>
      <Description>Pitch axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate</Description>
      <Range>3.000 12.000</Range>
      <User>Standard</User>
    </STB_PIT_P>
    <STB_YAW_P>
      <DisplayName>Yaw axis stabilize controller P gain</DisplayName>
      <Description>Yaw axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate</Description>
      <Range>3.000 6.000</Range>
      <User>Standard</User>
    </STB_YAW_P>
    <THR_ALT_P>
      <DisplayName>Altitude controller P gain</DisplayName>
      <Description>Altitude controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller</Description>
      <Range>1.000 3.000</Range>
      <User>Standard</User>
    </THR_ALT_P>
    <HLD_LAT_P>
      <DisplayName>Loiter position controller P gain</DisplayName>
      <Description>Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller</Description>
      <Range>0.500 2.000</Range>
      <User>Standard</User>
      <Group>CAM_</Group>
      <Path>../libraries/AP_Camera/AP_Camera.cpp</Path>
    </HLD_LAT_P>
  </ArduCopter2>
  <ArduPlane>
    <GND_ABS_PRESS>
      <DisplayName>Absolute Pressure</DisplayName>
      <Description>calibrated ground pressure in Pascals</Description>
      <Units>pascals</Units>
      <Increment>1</Increment>
    </GND_ABS_PRESS>
    <GND_TEMP>
      <DisplayName>ground temperature</DisplayName>
      <Description>calibrated ground temperature in degrees Celsius</Description>
      <Units>degrees celsius</Units>
      <Increment>1</Increment>
    </GND_TEMP>
    <GND_ALT_OFFSET>
      <DisplayName>altitude offset</DisplayName>
      <Description>altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.</Description>
      <Units>meters</Units>
      <Range>-128 127</Range>
      <Increment>1</Increment>
    </GND_ALT_OFFSET>
    <GPS_TYPE>
      <DisplayName>GPS type</DisplayName>
      <Description>GPS type</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:PX4EXPERIMENTAL</Values>
    </GPS_TYPE>
    <GPS_TYPE2>
      <DisplayName>2nd GPS type</DisplayName>
      <Description>GPS type of 2nd GPS</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:PX4EXPERIMENTAL</Values>
    </GPS_TYPE2>
    <GPS_NAVFILTER>
      <DisplayName>Navigation filter setting</DisplayName>
      <Description>Navigation filter engine setting</Description>
      <Values>0:Portable,2:Stationary,3:Pedestrian,4:Automotive,5:Sea,6:Airborne1G,7:Airborne2G,8:Airborne4G</Values>
    </GPS_NAVFILTER>
    <GPS_AUTO_SWITCH>
      <DisplayName>Automatic Switchover Setting</DisplayName>
      <Description>Automatic switchover to GPS reporting best lock</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </GPS_AUTO_SWITCH>
    <GPS_DGPS_MIN_LOCK>
      <DisplayName>Minimum Lock Type Accepted for DGPS</DisplayName>
      <Description>Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.</Description>
      <Values>0:Any,50:FloatRTK,100:IntegerRTK</Values>
      <User>Advanced</User>
    </GPS_DGPS_MIN_LOCK>
    <GPS_SBAS_MODE>
      <DisplayName>SBAS Mode</DisplayName>
      <Description>This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.</Description>
      <Values>0:Disabled,1:Enabled,2:NoChange</Values>
      <User>Advanced</User>
    </GPS_SBAS_MODE>
    <GPS_MIN_ELEV>
      <DisplayName>Minimum elevation</DisplayName>
      <Description>This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.</Description>
      <Range>-100 90</Range>
      <Units>Degrees</Units>
      <User>Advanced</User>
    </GPS_MIN_ELEV>
    <CAM_TRIGG_TYPE>
      <DisplayName>Camera shutter (trigger) type</DisplayName>
      <Description>how to trigger the camera to take a picture</Description>
      <Values>0:Servo,1:Relay</Values>
      <User>Standard</User>
    </CAM_TRIGG_TYPE>
    <CAM_DURATION>
      <DisplayName>Duration that shutter is held open</DisplayName>
      <Description>How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)</Description>
      <Units>seconds</Units>
      <Range>0 50</Range>
      <User>Standard</User>
    </CAM_DURATION>
    <CAM_SERVO_ON>
      <DisplayName>Servo ON PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is activated</Description>
      <Units>pwm</Units>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_ON>
    <CAM_SERVO_OFF>
      <DisplayName>Servo OFF PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is deactivated</Description>
      <Units>pwm</Units>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_OFF>
    <CAM_TRIGG_DIST>
      <DisplayName>Camera trigger distance</DisplayName>
      <Description>Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.</Description>
      <User>Standard</User>
      <Units>meters</Units>
      <Range>0 1000</Range>
    </CAM_TRIGG_DIST>
    <ARMING_REQUIRE>
      <DisplayName>Require Arming Motors</DisplayName>
      <Description>Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and send THR_MIN PWM to throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure.</Description>
      <Values>0:Disabled,1:THR_MIN PWM when disarmed,2:0 PWM when disarmed</Values>
      <User>Advanced</User>
    </ARMING_REQUIRE>
    <ARMING_DIS_RUD>
      <DisplayName>Disable Rudder Arming</DisplayName>
      <Description>Do not allow arming via the rudder input stick.</Description>
      <Values>0:Disabled (Rudder Arming Allowed),1:Enabled(No Rudder Arming)</Values>
      <User>Advanced</User>
    </ARMING_DIS_RUD>
    <ARMING_CHECK>
      <DisplayName>Arm Checks to Peform (bitmask)</DisplayName>
      <Description>Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and manual RC control you would set ARMING_CHECK to 72.</Description>
      <Values>0:None,1:All,2:Barometer,4:Compass,8:GPS,16:INS,32:Parameters,64:Manual RC Trasmitter,128:Board voltage,256:Battery Level</Values>
      <User>Advanced</User>
    </ARMING_CHECK>
    <RELAY_PIN>
      <DisplayName>First Relay Pin</DisplayName>
      <Description>Digital pin number for first relay control. This is the pin used for camera control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN>
    <RELAY_PIN2>
      <DisplayName>Second Relay Pin</DisplayName>
      <Description>Digital pin number for 2nd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN2>
    <RELAY_PIN3>
      <DisplayName>Third Relay Pin</DisplayName>
      <Description>Digital pin number for 3rd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN3>
    <RELAY_PIN4>
      <DisplayName>Fourth Relay Pin</DisplayName>
      <Description>Digital pin number for 4th relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN4>
    <RELAY_DEFAULT>
      <DisplayName>Default relay state</DisplayName>
      <Description>The state of the relay on boot.</Description>
      <User>Standard</User>
      <Values>0:Off,1:On,2:NoChange</Values>
    </RELAY_DEFAULT>
    <RNGFND_TYPE>
      <DisplayName>Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C</Values>
    </RNGFND_TYPE>
    <RNGFND_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND_PIN>
    <RNGFND_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND_SCALING>
    <RNGFND_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND_OFFSET>
    <RNGFND_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND_FUNCTION>
    <RNGFND_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MIN_CM>
    <RNGFND_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MAX_CM>
    <RNGFND_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND_STOP_PIN>
    <RNGFND_SETTLE>
      <DisplayName>Rangefinder settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND_SETTLE>
    <RNGFND_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND_RMETRIC>
    <RNGFND2_TYPE>
      <DisplayName>Second Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C</Values>
    </RNGFND2_TYPE>
    <RNGFND2_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND2_PIN>
    <RNGFND2_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND2_SCALING>
    <RNGFND2_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND2_OFFSET>
    <RNGFND2_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND2_FUNCTION>
    <RNGFND2_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MIN_CM>
    <RNGFND2_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MAX_CM>
    <RNGFND2_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND2_STOP_PIN>
    <RNGFND2_SETTLE>
      <DisplayName>Sonar settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND2_SETTLE>
    <RNGFND2_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND2_RMETRIC>
    <TERRAIN_ENABLE>
      <DisplayName>Terrain data enable</DisplayName>
      <Description>enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.</Description>
      <Values>0:Disable,1:Enable</Values>
    </TERRAIN_ENABLE>
    <TERRAIN_SPACING>
      <DisplayName>Terrain grid spacing</DisplayName>
      <Description>Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.</Description>
      <Units>meters</Units>
      <Increment>1</Increment>
    </TERRAIN_SPACING>
    <RC1_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MIN>
    <RC1_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_TRIM>
    <RC1_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MAX>
    <RC1_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC1_REV>
    <RC1_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC1_DZ>
    <RC2_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MIN>
    <RC2_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_TRIM>
    <RC2_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MAX>
    <RC2_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC2_REV>
    <RC2_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC2_DZ>
    <RC3_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MIN>
    <RC3_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_TRIM>
    <RC3_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MAX>
    <RC3_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC3_REV>
    <RC3_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC3_DZ>
    <RC4_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MIN>
    <RC4_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_TRIM>
    <RC4_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MAX>
    <RC4_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC4_REV>
    <RC4_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC4_DZ>
    <RC5_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MIN>
    <RC5_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_TRIM>
    <RC5_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MAX>
    <RC5_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC5_REV>
    <RC5_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC5_DZ>
    <RC5_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC5_FUNCTION>
    <RC6_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MIN>
    <RC6_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_TRIM>
    <RC6_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MAX>
    <RC6_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC6_REV>
    <RC6_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC6_DZ>
    <RC6_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC6_FUNCTION>
    <RC7_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MIN>
    <RC7_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_TRIM>
    <RC7_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MAX>
    <RC7_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC7_REV>
    <RC7_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC7_DZ>
    <RC7_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC7_FUNCTION>
    <RC8_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MIN>
    <RC8_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_TRIM>
    <RC8_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MAX>
    <RC8_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC8_REV>
    <RC8_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC8_DZ>
    <RC8_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC8_FUNCTION>
    <RC9_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MIN>
    <RC9_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_TRIM>
    <RC9_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MAX>
    <RC9_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC9_REV>
    <RC9_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC9_DZ>
    <RC9_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC9_FUNCTION>
    <RC10_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MIN>
    <RC10_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_TRIM>
    <RC10_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MAX>
    <RC10_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC10_REV>
    <RC10_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC10_DZ>
    <RC10_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC10_FUNCTION>
    <RC11_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MIN>
    <RC11_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_TRIM>
    <RC11_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MAX>
    <RC11_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC11_REV>
    <RC11_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC11_DZ>
    <RC11_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC11_FUNCTION>
    <RC12_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MIN>
    <RC12_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_TRIM>
    <RC12_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MAX>
    <RC12_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC12_REV>
    <RC12_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC12_DZ>
    <RC12_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC12_FUNCTION>
    <RC13_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MIN>
    <RC13_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_TRIM>
    <RC13_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MAX>
    <RC13_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC13_REV>
    <RC13_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC13_DZ>
    <RC13_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC13_FUNCTION>
    <RC14_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MIN>
    <RC14_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_TRIM>
    <RC14_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MAX>
    <RC14_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC14_REV>
    <RC14_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC14_DZ>
    <RC14_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC14_FUNCTION>
    <RLL2SRV_TCONST>
      <DisplayName>Roll Time Constant</DisplayName>
      <Description>This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.</Description>
      <Range>0.4 1.0</Range>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </RLL2SRV_TCONST>
    <RLL2SRV_P>
      <DisplayName>Proportional Gain</DisplayName>
      <Description>This is the gain from bank angle to aileron. This gain works the same way as the P term in the old PID (RLL2SRV_P) and can be set to the same value.</Description>
      <Range>0.1 4.0</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </RLL2SRV_P>
    <RLL2SRV_D>
      <DisplayName>Damping Gain</DisplayName>
      <Description>This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe.</Description>
      <Range>0 0.1</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </RLL2SRV_D>
    <RLL2SRV_I>
      <DisplayName>Integrator Gain</DisplayName>
      <Description>This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft.</Description>
      <Range>0 1.0</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </RLL2SRV_I>
    <RLL2SRV_RMAX>
      <DisplayName>Maximum Roll Rate</DisplayName>
      <Description>This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default.</Description>
      <Range>0 180</Range>
      <Units>degrees/second</Units>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RLL2SRV_RMAX>
    <RLL2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the aircraft is severely out of trim.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RLL2SRV_IMAX>
    <PTCH2SRV_TCONST>
      <DisplayName>Pitch Time Constant</DisplayName>
      <Description>This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.</Description>
      <Range>0.4 1.0</Range>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </PTCH2SRV_TCONST>
    <PTCH2SRV_P>
      <DisplayName>Proportional Gain</DisplayName>
      <Description>This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value.</Description>
      <Range>0.1 3.0</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </PTCH2SRV_P>
    <PTCH2SRV_D>
      <DisplayName>Damping Gain</DisplayName>
      <Description>This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe.</Description>
      <Range>0 0.1</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </PTCH2SRV_D>
    <PTCH2SRV_I>
      <DisplayName>Integrator Gain</DisplayName>
      <Description>This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle.</Description>
      <Range>0 0.5</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </PTCH2SRV_I>
    <PTCH2SRV_RMAX_UP>
      <DisplayName>Pitch up max rate</DisplayName>
      <Description>This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.</Description>
      <Range>0 100</Range>
      <Units>degrees/second</Units>
      <Increment>1</Increment>
      <User>Advanced</User>
    </PTCH2SRV_RMAX_UP>
    <PTCH2SRV_RMAX_DN>
      <DisplayName>Pitch down max rate</DisplayName>
      <Description>This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.</Description>
      <Range>0 100</Range>
      <Units>degrees/second</Units>
      <Increment>1</Increment>
      <User>Advanced</User>
    </PTCH2SRV_RMAX_DN>
    <PTCH2SRV_RLL>
      <DisplayName>Roll compensation</DisplayName>
      <Description>This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased.</Description>
      <Range>0.7 1.5</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </PTCH2SRV_RLL>
    <PTCH2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </PTCH2SRV_IMAX>
    <YAW2SRV_SLIP>
      <DisplayName>Sideslip control gain</DisplayName>
      <Description>This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required.</Description>
      <Range>0 4</Range>
      <Increment>0.25</Increment>
    </YAW2SRV_SLIP>
    <YAW2SRV_INT>
      <DisplayName>Sidelsip control integrator</DisplayName>
      <Description>This is the integral gain from lateral acceleration error. This gain should only be non-zero if active control over sideslip is desired. If active control over sideslip is required then this can be set to 1.0 as a first try.</Description>
      <Range>0 2</Range>
      <Increment>0.25</Increment>
    </YAW2SRV_INT>
    <YAW2SRV_DAMP>
      <DisplayName>Yaw damping</DisplayName>
      <Description>This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping term is zero then the integrator will also be disabled.</Description>
      <Range>0 2</Range>
      <Increment>0.25</Increment>
    </YAW2SRV_DAMP>
    <YAW2SRV_RLL>
      <DisplayName>Yaw coordination gain</DisplayName>
      <Description>This is the gain term that is applied to the yaw rate offset calculated as required to keep the yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will work for all models. Advanced users can use it to correct for any tendency to yaw away from or into the turn once the turn is established. Increase to make the model yaw more initially and decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are required then it normally indicates a problem with the airspeed calibration.</Description>
      <Range>0.8 1.2</Range>
      <Increment>0.05</Increment>
    </YAW2SRV_RLL>
    <YAW2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of centi-degrees of rudder over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited rudder control effectiveness.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </YAW2SRV_IMAX>
    <STEER2SRV_TCONST>
      <DisplayName>Steering Time Constant</DisplayName>
      <Description>This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve.</Description>
      <Range>0.4 1.0</Range>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </STEER2SRV_TCONST>
    <STEER2SRV_P>
      <DisplayName>Steering turning gain</DisplayName>
      <Description>The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </STEER2SRV_P>
    <STEER2SRV_I>
      <DisplayName>Integrator Gain</DisplayName>
      <Description>This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.</Description>
      <Range>0 1.0</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </STEER2SRV_I>
    <STEER2SRV_D>
      <DisplayName>Damping Gain</DisplayName>
      <Description>This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.</Description>
      <Range>0 0.1</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </STEER2SRV_D>
    <STEER2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </STEER2SRV_IMAX>
    <STEER2SRV_MINSPD>
      <DisplayName>Minimum speed</DisplayName>
      <Description>This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still driver slower than this limit, but the steering calculations will be done based on this minimum speed.</Description>
      <Range>0 5</Range>
      <Increment>0.1</Increment>
      <Units>m/s</Units>
      <User>User</User>
    </STEER2SRV_MINSPD>
    <COMPASS_OFS_X>
      <DisplayName>Compass offsets on the X axis</DisplayName>
      <Description>Offset to be added to the compass x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_X>
    <COMPASS_OFS_Y>
      <DisplayName>Compass offsets on the Y axis</DisplayName>
      <Description>Offset to be added to the compass y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Y>
    <COMPASS_OFS_Z>
      <DisplayName>Compass offsets on the Z axis</DisplayName>
      <Description>Offset to be added to the compass z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Z>
    <COMPASS_DEC>
      <DisplayName>Compass declination</DisplayName>
      <Description>An angle to compensate between the true north and magnetic north</Description>
      <Range>-3.142 3.142</Range>
      <Units>Radians</Units>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </COMPASS_DEC>
    <COMPASS_LEARN>
      <DisplayName>Learn compass offsets automatically</DisplayName>
      <Description>Enable or disable the automatic learning of compass offsets</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_LEARN>
    <COMPASS_USE>
      <DisplayName>Use compass for yaw</DisplayName>
      <Description>Enable or disable the use of the compass (instead of the GPS) for determining heading</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE>
    <COMPASS_AUTODEC>
      <DisplayName>Auto Declination</DisplayName>
      <Description>Enable or disable the automatic calculation of the declination based on gps location</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_AUTODEC>
    <COMPASS_MOTCT>
      <DisplayName>Motor interference compensation type</DisplayName>
      <Description>Set motor interference compensation type to disabled, throttle or current.  Do not change manually.</Description>
      <Values>0:Disabled,1:Use Throttle,2:Use Current</Values>
      <Increment>1</Increment>
    </COMPASS_MOTCT>
    <COMPASS_MOT_X>
      <DisplayName>Motor interference compensation for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_X>
    <COMPASS_MOT_Y>
      <DisplayName>Motor interference compensation for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Y>
    <COMPASS_MOT_Z>
      <DisplayName>Motor interference compensation for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Z>
    <COMPASS_ORIENT>
      <DisplayName>Compass orientation</DisplayName>
      <Description>The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT>
    <COMPASS_EXTERNAL>
      <DisplayName>Compass is attached via an external cable</DisplayName>
      <Description>Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL>
    <COMPASS_OFS2_X>
      <DisplayName>Compass2 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass2's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_X>
    <COMPASS_OFS2_Y>
      <DisplayName>Compass2 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass2's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Y>
    <COMPASS_OFS2_Z>
      <DisplayName>Compass2 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass2's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Z>
    <COMPASS_MOT2_X>
      <DisplayName>Motor interference compensation to compass2 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_X>
    <COMPASS_MOT2_Y>
      <DisplayName>Motor interference compensation to compass2 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Y>
    <COMPASS_MOT2_Z>
      <DisplayName>Motor interference compensation to compass2 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Z>
    <COMPASS_PRIMARY>
      <DisplayName>Choose primary compass</DisplayName>
      <Description>If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored</Description>
      <Values>0:FirstCompass,1:SecondCompass</Values>
      <User>Advanced</User>
    </COMPASS_PRIMARY>
    <COMPASS_OFS3_X>
      <DisplayName>Compass3 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass3's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_X>
    <COMPASS_OFS3_Y>
      <DisplayName>Compass3 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass3's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Y>
    <COMPASS_OFS3_Z>
      <DisplayName>Compass3 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass3's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Z>
    <COMPASS_MOT3_X>
      <DisplayName>Motor interference compensation to compass3 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_X>
    <COMPASS_MOT3_Y>
      <DisplayName>Motor interference compensation to compass3 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Y>
    <COMPASS_MOT3_Z>
      <DisplayName>Motor interference compensation to compass3 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Z>
    <COMPASS_DEV_ID>
      <DisplayName>Compass device id</DisplayName>
      <Description>Compass device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID>
    <COMPASS_DEV_ID2>
      <DisplayName>Compass2 device id</DisplayName>
      <Description>Second compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID2>
    <COMPASS_DEV_ID3>
      <DisplayName>Compass3 device id</DisplayName>
      <Description>Third compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID3>
    <COMPASS_USE2>
      <DisplayName>Compass2 used for yaw</DisplayName>
      <Description>Enable or disable the second compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE2>
    <COMPASS_ORIENT2>
      <DisplayName>Compass2 orientation</DisplayName>
      <Description>The orientation of the second compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT2>
    <COMPASS_EXTERN2>
      <DisplayName>Compass2 is attached via an external cable</DisplayName>
      <Description>Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERN2>
    <COMPASS_USE3>
      <DisplayName>Compass3 used for yaw</DisplayName>
      <Description>Enable or disable the third compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE3>
    <COMPASS_ORIENT3>
      <DisplayName>Compass3 orientation</DisplayName>
      <Description>The orientation of the third compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT3>
    <COMPASS_EXTERN3>
      <DisplayName>Compass3 is attached via an external cable</DisplayName>
      <Description>Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERN3>
    <SCHED_DEBUG>
      <DisplayName>Scheduler debug level</DisplayName>
      <Description>Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.</Description>
      <Values>0:Disabled,2:ShowSlips,3:ShowOverruns</Values>
      <User>Advanced</User>
    </SCHED_DEBUG>
    <RCMAP_ROLL>
      <DisplayName>Roll channel</DisplayName>
      <Description>Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_ROLL>
    <RCMAP_PITCH>
      <DisplayName>Pitch channel</DisplayName>
      <Description>Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_PITCH>
    <RCMAP_THROTTLE>
      <DisplayName>Throttle channel</DisplayName>
      <Description>Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_THROTTLE>
    <RCMAP_YAW>
      <DisplayName>Yaw channel</DisplayName>
      <Description>Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_YAW>
    <INS_PRODUCT_ID>
      <DisplayName>IMU Product ID</DisplayName>
      <Description>Which type of IMU is installed (read-only).</Description>
      <User>Advanced</User>
      <Values>0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux</Values>
    </INS_PRODUCT_ID>
    <INS_ACCSCAL_X>
      <DisplayName>Accelerometer scaling of X axis</DisplayName>
      <Description>Accelerometer scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_X>
    <INS_ACCSCAL_Y>
      <DisplayName>Accelerometer scaling of Y axis</DisplayName>
      <Description>Accelerometer scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Y>
    <INS_ACCSCAL_Z>
      <DisplayName>Accelerometer scaling of Z axis</DisplayName>
      <Description>Accelerometer scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Z>
    <INS_ACCOFFS_X>
      <DisplayName>Accelerometer offsets of X axis</DisplayName>
      <Description>Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_X>
    <INS_ACCOFFS_Y>
      <DisplayName>Accelerometer offsets of Y axis</DisplayName>
      <Description>Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Y>
    <INS_ACCOFFS_Z>
      <DisplayName>Accelerometer offsets of Z axis</DisplayName>
      <Description>Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Z>
    <INS_GYROFFS_X>
      <DisplayName>Gyro offsets of X axis</DisplayName>
      <Description>Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_X>
    <INS_GYROFFS_Y>
      <DisplayName>Gyro offsets of Y axis</DisplayName>
      <Description>Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Y>
    <INS_GYROFFS_Z>
      <DisplayName>Gyro offsets of Z axis</DisplayName>
      <Description>Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Z>
    <INS_MPU6K_FILTER>
      <DisplayName>MPU6000 filter frequency</DisplayName>
      <Description>Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation</Description>
      <Units>Hz</Units>
      <Values>0:Default,5:5Hz,10:10Hz,20:20Hz,42:42Hz,98:98Hz</Values>
      <User>Advanced</User>
    </INS_MPU6K_FILTER>
    <INS_ACC2SCAL_X>
      <DisplayName>Accelerometer2 scaling of X axis</DisplayName>
      <Description>Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_X>
    <INS_ACC2SCAL_Y>
      <DisplayName>Accelerometer2 scaling of Y axis</DisplayName>
      <Description>Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Y>
    <INS_ACC2SCAL_Z>
      <DisplayName>Accelerometer2 scaling of Z axis</DisplayName>
      <Description>Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Z>
    <INS_ACC2OFFS_X>
      <DisplayName>Accelerometer2 offsets of X axis</DisplayName>
      <Description>Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_X>
    <INS_ACC2OFFS_Y>
      <DisplayName>Accelerometer2 offsets of Y axis</DisplayName>
      <Description>Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Y>
    <INS_ACC2OFFS_Z>
      <DisplayName>Accelerometer2 offsets of Z axis</DisplayName>
      <Description>Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Z>
    <INS_GYR2OFFS_X>
      <DisplayName>Gyro2 offsets of X axis</DisplayName>
      <Description>Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_X>
    <INS_GYR2OFFS_Y>
      <DisplayName>Gyro2 offsets of Y axis</DisplayName>
      <Description>Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Y>
    <INS_GYR2OFFS_Z>
      <DisplayName>Gyro2 offsets of Z axis</DisplayName>
      <Description>Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Z>
    <INS_ACC3SCAL_X>
      <DisplayName>Accelerometer3 scaling of X axis</DisplayName>
      <Description>Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_X>
    <INS_ACC3SCAL_Y>
      <DisplayName>Accelerometer3 scaling of Y axis</DisplayName>
      <Description>Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Y>
    <INS_ACC3SCAL_Z>
      <DisplayName>Accelerometer3 scaling of Z axis</DisplayName>
      <Description>Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Z>
    <INS_ACC3OFFS_X>
      <DisplayName>Accelerometer3 offsets of X axis</DisplayName>
      <Description>Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_X>
    <INS_ACC3OFFS_Y>
      <DisplayName>Accelerometer3 offsets of Y axis</DisplayName>
      <Description>Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Y>
    <INS_ACC3OFFS_Z>
      <DisplayName>Accelerometer3 offsets of Z axis</DisplayName>
      <Description>Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Z>
    <INS_GYR3OFFS_X>
      <DisplayName>Gyro3 offsets of X axis</DisplayName>
      <Description>Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_X>
    <INS_GYR3OFFS_Y>
      <DisplayName>Gyro3 offsets of Y axis</DisplayName>
      <Description>Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Y>
    <INS_GYR3OFFS_Z>
      <DisplayName>Gyro3 offsets of Z axis</DisplayName>
      <Description>Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Z>
    <AHRS_GPS_GAIN>
      <DisplayName>AHRS GPS gain</DisplayName>
      <Description>This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.</Description>
      <Range>0.0 1.0</Range>
      <Increment>.01</Increment>
    </AHRS_GPS_GAIN>
    <AHRS_GPS_USE>
      <DisplayName>AHRS use GPS for navigation</DisplayName>
      <Description>This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_GPS_USE>
    <AHRS_YAW_P>
      <DisplayName>Yaw P</DisplayName>
      <Description>This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_YAW_P>
    <AHRS_RP_P>
      <DisplayName>AHRS RP_P</DisplayName>
      <Description>This controls how fast the accelerometers correct the attitude</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_RP_P>
    <AHRS_WIND_MAX>
      <DisplayName>Maximum wind</DisplayName>
      <Description>This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.</Description>
      <Range>0 127</Range>
      <Units>m/s</Units>
      <Increment>1</Increment>
    </AHRS_WIND_MAX>
    <AHRS_TRIM_X>
      <DisplayName>AHRS Trim Roll</DisplayName>
      <Description>Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_X>
    <AHRS_TRIM_Y>
      <DisplayName>AHRS Trim Pitch</DisplayName>
      <Description>Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_Y>
    <AHRS_TRIM_Z>
      <DisplayName>AHRS Trim Yaw</DisplayName>
      <Description>Not Used</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </AHRS_TRIM_Z>
    <AHRS_ORIENTATION>
      <DisplayName>Board Orientation</DisplayName>
      <Description>Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
      <User>Advanced</User>
    </AHRS_ORIENTATION>
    <AHRS_COMP_BETA>
      <DisplayName>AHRS Velocity Complmentary Filter Beta Coefficient</DisplayName>
      <Description>This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.</Description>
      <Range>0.001 0.5</Range>
      <Increment>.01</Increment>
      <User>Advanced</User>
    </AHRS_COMP_BETA>
    <AHRS_GPS_MINSATS>
      <DisplayName>AHRS GPS Minimum satellites</DisplayName>
      <Description>Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.</Description>
      <Range>0 10</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </AHRS_GPS_MINSATS>
    <AHRS_EKF_USE>
      <DisplayName>Use NavEKF Kalman filter for attitude and position estimation</DisplayName>
      <Description>This controls whether the NavEKF Kalman filter is used for attitude and position estimation</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_EKF_USE>
    <ARSPD_ENABLE>
      <DisplayName>Airspeed enable</DisplayName>
      <Description>enable airspeed sensor</Description>
      <Values>0:Disable,1:Enable</Values>
    </ARSPD_ENABLE>
    <ARSPD_USE>
      <DisplayName>Airspeed use</DisplayName>
      <Description>use airspeed for flight control</Description>
      <Values>1:Use,0:Don't Use</Values>
    </ARSPD_USE>
    <ARSPD_OFFSET>
      <DisplayName>Airspeed offset</DisplayName>
      <Description>Airspeed calibration offset</Description>
      <Increment>0.1</Increment>
    </ARSPD_OFFSET>
    <ARSPD_RATIO>
      <DisplayName>Airspeed ratio</DisplayName>
      <Description>Airspeed calibration ratio</Description>
      <Increment>0.1</Increment>
    </ARSPD_RATIO>
    <ARSPD_PIN>
      <DisplayName>Airspeed pin</DisplayName>
      <Description>The analog pin number that the airspeed sensor is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated airspeed port on the end of the board. Set to 11 on PX4 for the analog airspeed port. Set to 15 on the Pixhawk for the analog airspeed port. Set to 65 on the PX4 or Pixhawk for an EagleTree or MEAS I2C airspeed sensor.</Description>
      <User>Advanced</User>
    </ARSPD_PIN>
    <ARSPD_AUTOCAL>
      <DisplayName>Automatic airspeed ratio calibration</DisplayName>
      <Description>If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended.</Description>
      <User>Advanced</User>
    </ARSPD_AUTOCAL>
    <ARSPD_TUBE_ORDER>
      <DisplayName>Control pitot tube order</DisplayName>
      <Description>This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed.</Description>
      <User>Advanced</User>
    </ARSPD_TUBE_ORDER>
    <ARSPD_SKIP_CAL>
      <DisplayName>Skip airspeed calibration on startup</DisplayName>
      <Description>This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.</Description>
      <Values>0:Disable,1:Enable</Values>
      <User>Advanced</User>
    </ARSPD_SKIP_CAL>
    <NAVL1_PERIOD>
      <DisplayName>L1 control period</DisplayName>
      <Description>Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 30 is very conservative, and for most RC aircraft will lead to slow and lazy turns. For smaller more agile aircraft a value closer to 20 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.</Description>
      <Units>seconds</Units>
      <Range>1-60</Range>
      <Increment>1</Increment>
    </NAVL1_PERIOD>
    <NAVL1_DAMPING>
      <DisplayName>L1 control damping ratio</DisplayName>
      <Description>Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.</Description>
      <Range>0.6-1.0</Range>
      <Increment>0.05</Increment>
    </NAVL1_DAMPING>
    <TECS_CLMB_MAX>
      <DisplayName>Maximum Climb Rate (metres/sec)</DisplayName>
      <Description>This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand require to climb and maintain speed is noticeably less than THR_MAX, then either CLMB_MAX should be increased or THR_MAX reduced.</Description>
      <Increment>0.1</Increment>
      <Range>0.1 20.0</Range>
      <User>User</User>
    </TECS_CLMB_MAX>
    <TECS_SINK_MIN>
      <DisplayName>Minimum Sink Rate (metres/sec)</DisplayName>
      <Description>This is the sink rate of the aircraft with the throttle set to THR_MIN and the same airspeed as used to measure CLMB_MAX.</Description>
      <Increment>0.1</Increment>
      <Range>0.1 10.0</Range>
      <User>User</User>
    </TECS_SINK_MIN>
    <TECS_TIME_CONST>
      <DisplayName>Controller time constant (sec)</DisplayName>
      <Description>This is the time constant of the TECS control algorithm. Smaller values make it faster to respond, large values make it slower to respond.</Description>
      <Range>3.0 10.0</Range>
      <Increment>0.2</Increment>
      <User>Advanced</User>
    </TECS_TIME_CONST>
    <TECS_THR_DAMP>
      <DisplayName>Controller throttle damping</DisplayName>
      <Description>This is the damping gain for the throttle demand loop. Increase to add damping  to correct for oscillations in speed and height.</Description>
      <Range>0.1 1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_THR_DAMP>
    <TECS_INTEG_GAIN>
      <DisplayName>Controller integrator</DisplayName>
      <Description>This is the integrator gain on the control loop. Increase to increase the rate at which speed and height offsets are trimmed out</Description>
      <Range>0.0 0.5</Range>
      <Increment>0.02</Increment>
      <User>Advanced</User>
    </TECS_INTEG_GAIN>
    <TECS_VERT_ACC>
      <DisplayName>Vertical Acceleration Limit (metres/sec^2)</DisplayName>
      <Description>This is the maximum vertical acceleration either up or down that the  controller will use to correct speed or height errors.</Description>
      <Range>1.0 10.0</Range>
      <Increment>0.5</Increment>
      <User>Advanced</User>
    </TECS_VERT_ACC>
    <TECS_HGT_OMEGA>
      <DisplayName>Height complementary filter frequency (radians/sec)</DisplayName>
      <Description>This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height.</Description>
      <Range>1.0 5.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </TECS_HGT_OMEGA>
    <TECS_SPD_OMEGA>
      <DisplayName>Speed complementary filter frequency (radians/sec)</DisplayName>
      <Description>This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed.</Description>
      <Range>0.5 2.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </TECS_SPD_OMEGA>
    <TECS_RLL2THR>
      <DisplayName>Bank angle compensation gain</DisplayName>
      <Description>Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.</Description>
      <Range>5.0 30.0</Range>
      <Increment>1.0</Increment>
      <User>Advanced</User>
    </TECS_RLL2THR>
    <TECS_SPDWEIGHT>
      <DisplayName>Weighting applied to speed control</DisplayName>
      <Description>This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airsped errors, but give larger height errors.	A value of 1.0 gives a balanced response and is the default.</Description>
      <Range>0.0 2.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_SPDWEIGHT>
    <TECS_PTCH_DAMP>
      <DisplayName>Controller pitch damping</DisplayName>
      <Description>This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height.</Description>
      <Range>0.1 1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_PTCH_DAMP>
    <TECS_SINK_MAX>
      <DisplayName>Maximum Descent Rate (metres/sec)</DisplayName>
      <Description>This sets the maximum descent rate that the controller will use.  If this value is too large, the aircraft will reach the pitch angle limit first and be unable to achieve the descent rate. This should be set to a value that can be achieved at the lower pitch angle limit.</Description>
      <Increment>0.1</Increment>
      <Range>0.0 20.0</Range>
      <User>User</User>
    </TECS_SINK_MAX>
    <TECS_LAND_ARSPD>
      <DisplayName>Airspeed during landing approach (m/s)</DisplayName>
      <Description>When performing an autonomus landing, this value is used as the goal airspeed during approach.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is not used during landing.</Description>
      <Range>-1 127</Range>
      <Increment>1</Increment>
      <User>User</User>
    </TECS_LAND_ARSPD>
    <TECS_LAND_THR>
      <DisplayName>Cruise throttle during landing approach (percentage)</DisplayName>
      <Description>Use this parameter instead of LAND_ASPD if your platform does not have an airspeed sensor.  It is the cruise throttle during landing approach.  If it is negative if TECS_LAND_ASPD is in use then this value is not used during landing.</Description>
      <Range>-1 to 100</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TECS_LAND_THR>
    <TECS_LAND_SPDWGT>
      <DisplayName>Weighting applied to speed control during landing.</DisplayName>
      <Description>Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages.  A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point).  A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall.</Description>
      <Range>0.0 2.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_LAND_SPDWGT>
    <TECS_PITCH_MAX>
      <DisplayName>Maximum pitch in auto flight</DisplayName>
      <Description>This controls maximum pitch up in automatic throttle modes. If this is set to zero then LIM_PITCH_MAX is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode.</Description>
      <Range>0 45</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </TECS_PITCH_MAX>
    <TECS_PITCH_MIN>
      <DisplayName>Minimum pitch in auto flight</DisplayName>
      <Description>This controls minimum pitch in automatic throttle modes. If this is set to zero then LIM_PITCH_MIN is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode. Note that TECS_PITCH_MIN should be a negative number.</Description>
      <Range>-45 0</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </TECS_PITCH_MIN>
    <TECS_LAND_SINK>
      <DisplayName>Sink rate for final landing stage</DisplayName>
      <Description>The sink rate in meters/second for the final stage of landing.</Description>
      <Range>0.0 2.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_LAND_SINK>
    <TECS_LAND_TCONST>
      <DisplayName>Land controller time constant (sec)</DisplayName>
      <Description>This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare</Description>
      <Range>1.0 5.0</Range>
      <Increment>0.2</Increment>
      <User>Advanced</User>
    </TECS_LAND_TCONST>
    <TECS_LAND_DAMP>
      <DisplayName>Controller sink rate to pitch gain during flare</DisplayName>
      <Description>This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare.</Description>
      <Range>0.1 1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </TECS_LAND_DAMP>
    <MNT_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT_MODE>
    <MNT_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_X>
    <MNT_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Y>
    <MNT_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Z>
    <MNT_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_X>
    <MNT_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Y>
    <MNT_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Z>
    <MNT_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_X>
    <MNT_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Y>
    <MNT_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Z>
    <MNT_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_ROLL>
    <MNT_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_TILT>
    <MNT_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_PAN>
    <MNT_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_ROLL>
    <MNT_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_ROL>
    <MNT_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_ROL>
    <MNT_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_TILT>
    <MNT_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_TIL>
    <MNT_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_TIL>
    <MNT_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_PAN>
    <MNT_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_PAN>
    <MNT_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_PAN>
    <MNT_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_JSTICK_SPD>
    <MNT_LEAD_RLL>
      <DisplayName>Roll stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT_LEAD_RLL>
    <MNT_LEAD_PTCH>
      <DisplayName>Pitch stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT_LEAD_PTCH>
    <MNT2_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT2_MODE>
    <MNT2_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_X>
    <MNT2_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_Y>
    <MNT2_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_RETRACT_Z>
    <MNT2_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_X>
    <MNT2_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_Y>
    <MNT2_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_NEUTRAL_Z>
    <MNT2_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_X>
    <MNT2_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_Y>
    <MNT2_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT2_CONTROL_Z>
    <MNT2_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_ROLL>
    <MNT2_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_TILT>
    <MNT2_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT2_STAB_PAN>
    <MNT2_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_ROLL>
    <MNT2_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_ROL>
    <MNT2_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_ROL>
    <MNT2_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_TILT>
    <MNT2_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_TIL>
    <MNT2_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_TIL>
    <MNT2_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT2_RC_IN_PAN>
    <MNT2_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMIN_PAN>
    <MNT2_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_ANGMAX_PAN>
    <MNT2_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT2_JSTICK_SPD>
    <MNT2_LEAD_RLL>
      <DisplayName>Roll stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT2_LEAD_RLL>
    <MNT2_LEAD_PTCH>
      <DisplayName>Pitch stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT2_LEAD_PTCH>
    <BATT_MONITOR>
      <DisplayName>Battery monitoring</DisplayName>
      <Description>Controls enabling monitoring of the battery's voltage and current</Description>
      <Values>0:Disabled,3:Voltage Only,4:Voltage and Current</Values>
      <User>Standard</User>
    </BATT_MONITOR>
    <BATT_VOLT_PIN>
      <DisplayName>Battery Voltage sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.</Description>
      <Values>-1:Disabled, 0:A0, 1:A1, 2:Pixhawk, 13:A13, 100:PX4</Values>
      <User>Standard</User>
    </BATT_VOLT_PIN>
    <BATT_CURR_PIN>
      <DisplayName>Battery Current sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.</Description>
      <Values>-1:Disabled, 1:A1, 2:A2, 3:Pixhawk, 12:A12, 101:PX4</Values>
      <User>Standard</User>
    </BATT_CURR_PIN>
    <BATT_VOLT_MULT>
      <DisplayName>Voltage Multiplier</DisplayName>
      <Description>Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.</Description>
      <User>Advanced</User>
    </BATT_VOLT_MULT>
    <BATT_AMP_PERVOLT>
      <DisplayName>Amps per volt</DisplayName>
      <Description>Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.</Description>
      <Units>Amps/Volt</Units>
      <User>Standard</User>
    </BATT_AMP_PERVOLT>
    <BATT_AMP_OFFSET>
      <DisplayName>AMP offset</DisplayName>
      <Description>Voltage offset at zero current on current sensor</Description>
      <Units>Volts</Units>
      <User>Standard</User>
    </BATT_AMP_OFFSET>
    <BATT_CAPACITY>
      <DisplayName>Battery capacity</DisplayName>
      <Description>Capacity of the battery in mAh when full</Description>
      <Units>mAh</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </BATT_CAPACITY>
    <BATT_VOLT2_PIN>
      <DisplayName>2nd Battery Voltage sensing pin</DisplayName>
      <Description>This sets the pin for sensing the voltage on a 2nd battery. Set to -1 to disable sensing of a second battery</Description>
      <User>Standard</User>
    </BATT_VOLT2_PIN>
    <BATT_VOLT2_MULT>
      <DisplayName>2nd battery voltage multiplier</DisplayName>
      <Description>Used to convert the voltage of the VOLT2_PIN to the actual battery's voltage (pin_voltage * VOLT_MULT).</Description>
      <User>Advanced</User>
    </BATT_VOLT2_MULT>
    <BRD_PWM_COUNT>
      <DisplayName>PWM Count</DisplayName>
      <Description>Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.</Description>
      <Values>0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs</Values>
    </BRD_PWM_COUNT>
    <BRD_SER1_RTSCTS>
      <DisplayName>Serial 1 flow control</DisplayName>
      <Description>Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER1_RTSCTS>
    <BRD_SER2_RTSCTS>
      <DisplayName>Serial 2 flow control</DisplayName>
      <Description>Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER2_RTSCTS>
    <BRD_SAFETYENABLE>
      <DisplayName>Enable use of safety arming switch</DisplayName>
      <Description>Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.</Description>
      <Values>0:Disabled,1:Enabled</Values>
    </BRD_SAFETYENABLE>
    <AFS_MAN_PIN>
      <DisplayName>Manual Pin</DisplayName>
      <Description>This sets a digital output pin to set high when in manual mode</Description>
      <User>Advanced</User>
    </AFS_MAN_PIN>
    <AFS_HB_PIN>
      <DisplayName>Heartbeat Pin</DisplayName>
      <Description>This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.</Description>
      <User>Advanced</User>
    </AFS_HB_PIN>
    <AFS_WP_COMMS>
      <DisplayName>Comms Waypoint</DisplayName>
      <Description>Waypoint number to navigate to on comms loss</Description>
      <User>Advanced</User>
    </AFS_WP_COMMS>
    <AFS_GPS_LOSS>
      <DisplayName>GPS Loss Waypoint</DisplayName>
      <Description>Waypoint number to navigate to on GPS lock loss</Description>
      <User>Advanced</User>
    </AFS_GPS_LOSS>
    <AFS_TERMINATE>
      <DisplayName>Force Terminate</DisplayName>
      <Description>Can be set in flight to force termination of the heartbeat signal</Description>
      <User>Advanced</User>
    </AFS_TERMINATE>
    <AFS_TERM_ACTION>
      <DisplayName>Terminate action</DisplayName>
      <Description>This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle</Description>
      <User>Advanced</User>
    </AFS_TERM_ACTION>
    <AFS_TERM_PIN>
      <DisplayName>Terminate Pin</DisplayName>
      <Description>This sets a digital output pin to set high on flight termination</Description>
      <User>Advanced</User>
    </AFS_TERM_PIN>
    <AFS_AMSL_LIMIT>
      <DisplayName>AMSL limit</DisplayName>
      <Description>This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.</Description>
      <User>Advanced</User>
      <Units>meters</Units>
    </AFS_AMSL_LIMIT>
    <AFS_AMSL_ERR_GPS>
      <DisplayName>Error margin for GPS based AMSL limit</DisplayName>
      <Description>This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.</Description>
      <User>Advanced</User>
      <Units>meters</Units>
    </AFS_AMSL_ERR_GPS>
    <AFS_QNH_PRESSURE>
      <DisplayName>QNH pressure</DisplayName>
      <Description>This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.</Description>
      <Units>millibar</Units>
      <User>Advanced</User>
    </AFS_QNH_PRESSURE>
    <AFS_ENABLE>
      <DisplayName>Enable Advanced Failsafe</DisplayName>
      <Description>This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect</Description>
      <User>Advanced</User>
    </AFS_ENABLE>
    <AFS_RC_FAIL_MS>
      <DisplayName>RC failure time</DisplayName>
      <Description>This is the time in milliseconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be 1500. Use 0 to disable.</Description>
      <User>Advanced</User>
    </AFS_RC_FAIL_MS>
    <AFS_MAX_GPS_LOSS>
      <DisplayName>Maximum number of GPS loss events</DisplayName>
      <Description>Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.</Description>
      <User>Advanced</User>
    </AFS_MAX_GPS_LOSS>
    <AFS_MAX_COM_LOSS>
      <DisplayName>Maximum number of comms loss events</DisplayName>
      <Description>Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.</Description>
      <User>Advanced</User>
    </AFS_MAX_COM_LOSS>
    <EKF_VELNE_NOISE>
      <DisplayName>GPS horizontal velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the North and East GPS velocity measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.05 5.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </EKF_VELNE_NOISE>
    <EKF_VELD_NOISE>
      <DisplayName>GPS vertical velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the vertical GPS velocity measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.05 5.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </EKF_VELD_NOISE>
    <EKF_POSNE_NOISE>
      <DisplayName>GPS horizontal position measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_POSNE_NOISE>
    <EKF_ALT_NOISE>
      <DisplayName>Altitude measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_ALT_NOISE>
    <EKF_MAG_NOISE>
      <DisplayName>Magnetometer measurement noise (Gauss)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.01 0.5</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </EKF_MAG_NOISE>
    <EKF_EAS_NOISE>
      <DisplayName>Equivalent airspeed measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.5 5.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_EAS_NOISE>
    <EKF_WIND_PNOISE>
      <DisplayName>Wind velocity process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.</Description>
      <Range>0.01 1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_WIND_PNOISE>
    <EKF_WIND_PSCALE>
      <DisplayName>Height rate to wind procss noise scaler</DisplayName>
      <Description>Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser.</Description>
      <Range>0.0 1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_WIND_PSCALE>
    <EKF_GYRO_PNOISE>
      <DisplayName>Rate gyro noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.</Description>
      <Range>0.001 0.05</Range>
      <Increment>0.001</Increment>
      <User>Advanced</User>
    </EKF_GYRO_PNOISE>
    <EKF_ACC_PNOISE>
      <DisplayName>Accelerometer noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.</Description>
      <Range>0.05 1.0</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </EKF_ACC_PNOISE>
    <EKF_GBIAS_PNOISE>
      <DisplayName>Rate gyro bias process noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.</Description>
      <Range>0.0000001 0.00001</Range>
      <User>Advanced</User>
    </EKF_GBIAS_PNOISE>
    <EKF_ABIAS_PNOISE>
      <DisplayName>Accelerometer bias process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.</Description>
      <Range>0.00001 0.001</Range>
      <User>Advanced</User>
    </EKF_ABIAS_PNOISE>
    <EKF_MAGE_PNOISE>
      <DisplayName>Earth magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier.</Description>
      <Range>0.0001 0.01</Range>
      <User>Advanced</User>
    </EKF_MAGE_PNOISE>
    <EKF_MAGB_PNOISE>
      <DisplayName>Body magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier.</Description>
      <Range>0.0001 0.01</Range>
      <User>Advanced</User>
    </EKF_MAGB_PNOISE>
    <EKF_VEL_DELAY>
      <DisplayName>GPS velocity measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS velocity measurements lag behind the inertial measurements.</Description>
      <Range>0 500</Range>
      <Increment>10</Increment>
      <User>Advanced</User>
    </EKF_VEL_DELAY>
    <EKF_POS_DELAY>
      <DisplayName>GPS position measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS position measurements lag behind the inertial measurements.</Description>
      <Range>0 500</Range>
      <Increment>10</Increment>
      <User>Advanced</User>
    </EKF_POS_DELAY>
    <EKF_GPS_TYPE>
      <DisplayName>GPS velocity mode control</DisplayName>
      <Description>This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity, 3 = use no GPS</Description>
      <Range>0 3</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_GPS_TYPE>
    <EKF_VEL_GATE>
      <DisplayName>GPS velocity measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_VEL_GATE>
    <EKF_POS_GATE>
      <DisplayName>GPS position measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_POS_GATE>
    <EKF_HGT_GATE>
      <DisplayName>Height measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_HGT_GATE>
    <EKF_MAG_GATE>
      <DisplayName>Magnetometer measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_MAG_GATE>
    <EKF_EAS_GATE>
      <DisplayName>Airspeed measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_EAS_GATE>
    <EKF_MAG_CAL>
      <DisplayName>Magnetometer calibration mode</DisplayName>
      <Description>EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.</Description>
      <Values>0:Speed and Height,1:Acceleration,2:Never</Values>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_MAG_CAL>
    <EKF_GLITCH_ACCEL>
      <DisplayName>GPS glitch accel gate size (cm/s^2)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position.</Description>
      <Range>100 500</Range>
      <Increment>50</Increment>
      <User>Advanced</User>
    </EKF_GLITCH_ACCEL>
    <EKF_GLITCH_RAD>
      <DisplayName>GPS glitch radius gate size (m)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement.</Description>
      <Range>10 50</Range>
      <Increment>5</Increment>
      <User>Advanced</User>
    </EKF_GLITCH_RAD>
    <EKF_GND_GRADIENT>
      <DisplayName>Terrain Gradient % RMS</DisplayName>
      <Description>This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values casue the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain.</Description>
      <Range>1 - 50</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_GND_GRADIENT>
    <EKF_FLOW_NOISE>
      <DisplayName>Optical flow measurement noise (rad/s)</DisplayName>
      <Description>This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.05 - 1.0</Range>
      <Increment>0.05</Increment>
      <User>advanced</User>
    </EKF_FLOW_NOISE>
    <EKF_FLOW_GATE>
      <DisplayName>Optical Flow measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_FLOW_GATE>
    <EKF_FLOW_DELAY>
      <DisplayName>Optical Flow measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.</Description>
      <Range>0 - 500</Range>
      <Increment>10</Increment>
      <User>advanced</User>
    </EKF_FLOW_DELAY>
    <EKF_RNG_GATE>
      <DisplayName>Range finder measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_RNG_GATE>
    <EKF_MAX_FLOW>
      <DisplayName>Maximum valid optical flow rate</DisplayName>
      <Description>This parameter sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter</Description>
      <Range>1.0 - 4.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_MAX_FLOW>
    <EKF_FALLBACK>
      <DisplayName>Fallback strictness</DisplayName>
      <Description>This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more.</Description>
      <Values>0:Trust EKF more, 1:Trust DCM more</Values>
      <User>Advanced</User>
    </EKF_FALLBACK>
    <MIS_TOTAL>
      <DisplayName>Total mission commands</DisplayName>
      <Description>The number of mission mission items that has been loaded by the ground station. Do not change this manually.</Description>
      <Range>0 32766</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </MIS_TOTAL>
    <MIS_RESTART>
      <DisplayName>Mission Restart when entering Auto mode</DisplayName>
      <Description>Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)</Description>
      <Values>0:Resume Mission, 1:Restart Mission</Values>
    </MIS_RESTART>
    <RALLY_TOTAL>
      <DisplayName>Rally Total</DisplayName>
      <Description>Number of rally points currently loaded</Description>
      <User>Advanced</User>
    </RALLY_TOTAL>
    <RALLY_LIMIT_KM>
      <DisplayName>Rally Limit</DisplayName>
      <Description>Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.</Description>
      <User>Advanced</User>
      <Units>kilometers</Units>
      <Increment>0.1</Increment>
    </RALLY_LIMIT_KM>
    <FORMAT_VERSION>
      <DisplayName>存储器格式化次数</DisplayName>
      <Description>每次更新存储器后会增加该数值。</Description>
      <User>Advanced</User>
    </FORMAT_VERSION>
    <SYSID_SW_TYPE>
      <DisplayName>软件类型</DisplayName>
      <Description>地面站用来识别软件的种类 (例如：固定翼 或 多轴)</Description>
      <User>Advanced</User>
    </SYSID_SW_TYPE>
    <SYSID_THISMAV>
      <DisplayName>MAVLink系统ID</DisplayName>
      <Description>MAVLink协议中，当前设备的识别编号。</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_THISMAV>
    <SYSID_MYGCS>
      <DisplayName>地面站MAVLink系统ID</DisplayName>
      <Description>MAVLink协议中，地面站的识别编号。除非同时对地面站进行修改，否则不要更改。</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_MYGCS>
    <SERIAL0_BAUD>
      <DisplayName>USB端口波特率</DisplayName>
      <Description>这是USB接口的波特率设置。APM2可以支持最高到115, 也可以支持500。PX4能支持到1500。如果你在APM2上设置了一个不能支持的波特率，导致无法连接飞控，可以通过重新加载固件的方式恢复默认参数来连接，这将导致所有设置的参数恢复默认。</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL0_BAUD>
    <SERIAL1_BAUD>
      <DisplayName>第一数传接口波特率</DisplayName>
      <Description>通常这个设置作用于第一数传端口。APM2可以支持最高到115, 也可以支持500。PX4能支持到1500。如果你在APM2上设置了一个不能支持的波特率，导致无法连接飞控，可以通过重新加载固件的方式恢复默认参数来连接，这将导致所有设置的参数恢复默认。</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL1_BAUD>
    <SERIAL2_BAUD>
      <DisplayName>第二数传接口波特率</DisplayName>
      <Description>这个设置作用于第二数传端口。APM2可以支持最高到115, 也可以支持500。PX4能支持到1500。如果你在APM2上设置了一个不能支持的波特率，导致无法连接飞控，可以通过重新加载固件的方式恢复默认参数来连接，这将导致所有设置的参数恢复默认。</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL2_BAUD>
    <SERIAL2_PROTOCOL>
      <DisplayName>第二数传接口协议选择</DisplayName>
      <Description>该参数控制第二数传接口使用哪种协议。</Description>
      <Values>1:地面站Mavlink,2:睿思凯D-PORT</Values>
      <User>Standard</User>
    </SERIAL2_PROTOCOL>
    <AUTOTUNE_LEVEL>
      <DisplayName>自动调参级别</DisplayName>
      <Description>自动调参时的动作激烈程度。 当自动调参运行于较低级别时，调参的程度会比较“软”，得到较平和的增益。推荐大多数使用者设置为6。</Description>
      <Range>1 10</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </AUTOTUNE_LEVEL>
    <TELEM_DELAY>
      <DisplayName>数传启动延时</DisplayName>
      <Description>延迟数传连接的时间（秒），用于解决Xbee上电后会延时反应。</Description>
      <User>Standard</User>
      <Units>秒</Units>
      <Range>0 10</Range>
      <Increment>1</Increment>
    </TELEM_DELAY>
    <KFF_RDDRMIX>
      <DisplayName>方向舵混控</DisplayName>
      <Description>方向舵配合副翼动作时的混控比例。0 = 0 %, 1 = 100%</Description>
      <Range>0 1</Range>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </KFF_RDDRMIX>
    <KFF_THR2PTCH>
      <DisplayName>油门到俯仰的混控</DisplayName>
      <Description>油门作用于俯仰的前馈增益。</Description>
      <Range>0 5</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </KFF_THR2PTCH>
    <STAB_PITCH_DOWN>
      <DisplayName>低油门下降微调</DisplayName>
      <Description>这个参数控制了，当在低油门杆量的时候，FBWA和AUTOTUNE模式飞行时的下降量。油门杆位置超过TRIM_THROTTLE参数的设定值时，飞机不会进行下降修正。低于TRIM_THROTTLE参数的设定值时，就会按照具体的油门杆位置，进行下降修正。0油门杆位置时，就会使用当前参数设定的量进行下降。这个参数的目的就是为了在FBWA模式小油门量飞行时，帮助飞机保持空速，比如在着陆进近时可以不用依赖空速计。2度的默认值，适合大部分飞机，更高的数值可能适合较大飞行阻力的飞机。</Description>
      <Range>0 15</Range>
      <Increment>0.1</Increment>
      <Units>度</Units>
      <User>Advanced</User>
    </STAB_PITCH_DOWN>
    <GLIDE_SLOPE_MIN>
      <DisplayName>滑翔下降高度</DisplayName>
      <Description>设置最小的航点高度改变，可以进行滑翔，而不用直接下降高度。默认值为15米，这将帮助飞机在两个较近的航点间，平滑的进行高度调整。如果不想在此使用滑翔功能，设置0为禁用。</Description>
      <Range>0 1000</Range>
      <Increment>1</Increment>
      <Units>米</Units>
      <User>Advanced</User>
    </GLIDE_SLOPE_MIN>
    <STICK_MIXING>
      <DisplayName>摇杆混控</DisplayName>
      <Description>如果允许使用，将在自动飞行模式时，允许RC控制飞机而不用切换飞行模式。这里有两种模式可以设置，设置为1时，可以用FBW的模式来控制飞机，这和FBW-A的侧倾和俯仰控制一样。如果你常用FBW-A或FBW-B模式来飞行，这是个安全的选择。设置为2时，将使用自稳模式STABILIZE来飞行，可以让你在AUTO模式进行更激烈的操作。</Description>
      <Values>0:Disabled,1:FBWMixing,2:DirectMixing</Values>
      <User>Advanced</User>
    </STICK_MIXING>
    <SKIP_GYRO_CAL>
      <DisplayName>禁止陀螺仪启动自检</DisplayName>
      <Description>当允许这个选项时，APM将在启动时跳过陀螺仪校准，并使用上次飞行时保存的陀螺仪数据，如此一定要在飞行前确认高度等数据，因为一些板子可能在启动时的陀螺仪校准，会有明显的不同, 尤其是温度的变化带来的影响。而如果陀螺仪校准被跳过，APM将在启动的几分钟后，依赖陀螺仪的移动探测功能去收集正确的校准数据。这个功能在解决某些问题时非常有用。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Advanced</User>
    </SKIP_GYRO_CAL>
    <AUTO_FBW_STEER>
      <DisplayName>在AUTO飞行模式里使用FBW-A的控制功能</DisplayName>
      <Description>允许这个选项后，会在Auto飞行模式里，允许使用与FBW-A相同的手动操控功能，而Auto模式的导航功能将被完全禁用，常规飞行时不建议使用此功能。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Advanced</User>
    </AUTO_FBW_STEER>
    <TKOFF_THR_MINSPD>
      <DisplayName>起飞时自动开启油门的最小速度</DisplayName>
      <Description>该参数用于控制自动起飞时，油门启动与否，所依据的最小GPS地面速度检测。这个参数用在弹射起飞时，希望飞机被弹射出去后，再启动并加速电机。但对于弹射起飞，最好配合 TKOFF_THR_MINACC 和 TKOFF_THR_DELAY 参数使用进行，以规避GPS误差而导致的意外。强烈建议螺旋桨飞机投掷起飞时，设置的数值不低于4米/秒，这可以避免电机过早启动。注意：GPS速率会滞后于实际0.5秒。同时地速检测也会被 TKOFF_THR_DELAY 参数所延迟。</Description>
      <Units>米/秒</Units>
      <Range>0 30</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TKOFF_THR_MINSPD>
    <TKOFF_THR_MINACC>
      <DisplayName>起飞时自动开启油门的最小加速度</DisplayName>
      <Description>自动起飞模式下，油门启动需要的最小的向前地面加速度（米/秒/秒），这意味着要投掷起飞。设置为0将禁用加速度检测，油门将处于解锁状态，并允许GPS速率启动电机。投掷和弹射起飞应该设置在15米/秒附近。</Description>
      <Units>米/秒/秒</Units>
      <Range>0 30</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TKOFF_THR_MINACC>
    <TKOFF_THR_DELAY>
      <DisplayName>起飞油门延迟开启</DisplayName>
      <Description>当TKOFF_THR_MINACC参数设置的最小加速度达到后，再延迟多长时间（1/10秒）电机再启动。后推式螺旋桨飞机在投掷起飞时，这个值不能低于2（0.2秒）来确保螺旋桨离开投掷者的手臂范围后再启动。弹射起飞时，可以设置较大的数值（比如30）来给出足够的时间，等飞机离开弹射架后再启动电机。</Description>
      <Units>0.1 秒</Units>
      <Range>0 127</Range>
      <Increment>1</Increment>
      <User>User</User>
    </TKOFF_THR_DELAY>
    <TKOFF_TDRAG_ELEV>
      <DisplayName>后三点机型的起飞时升降舵设置</DisplayName>
      <Description>这个参数用来设置在最初的起飞阶段，升降舵面的应用比例。这个功能是用于在地面滑行时，保持住后三点飞机的尾轮（转向轮）,保持飞机在起飞时的方向稳定。这个参数应该结合 TKOFF_TDRAG_SPD1 和 GROUND_STEER_ALT 参数一起进行地面转向控制的调整。0值为忽略在起飞时的尾轮保持，并用在投掷和弹射起飞模式下。对于后三点飞机，通常设置为100，这将在起飞时使升降舵处于爬升满舵状态。0值适用于大多数前三点起落架，但是有一些前三点飞机需要在起飞时让升降舵向下，用来保持飞机在起飞加速时，前轮能保持对方向的控制（设置为-20到-30）。除非发现起飞离地前，前轮不能很好的接触地面，否则不要设置为负值。前三点飞机使用大幅度的升降舵向下时，会造成转向不灵，所以调试时，每次最多降低10%来测试。</Description>
      <Units>百分比</Units>
      <Range>-100 100</Range>
      <Increment>1</Increment>
      <User>User</User>
    </TKOFF_TDRAG_ELEV>
    <TKOFF_TDRAG_SPD1>
      <DisplayName>后三点机型起飞离地前的地面速度1</DisplayName>
      <Description>这个参数设置在起飞离地前，达到什么速度后停止保持尾部向下，而转用方向舵控制地面转向。当这个参数值达到后，飞机将保持水平，直到速度达到TKOFF_ROTATE_SPD参数的设置，才会开始转向、爬升、飞向航点。设置为0时将直接进入转向，适合投掷和弹射起飞，前三点飞机也应设为0。后三点飞机的设置应稍低于失速速度。</Description>
      <Units>米/秒</Units>
      <Range>0 30</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TKOFF_TDRAG_SPD1>
    <TKOFF_ROTATE_SPD>
      <DisplayName>起飞后开始转向所需达到速度</DisplayName>
      <Description>起飞后达到什么速度开始转向。这个参数设定在任务中达到设定空速后，飞机开始转向并进行指定的爬升。如果这个参数为0，起飞后会立即进入爬升。手抛和弹射起飞应设置为0，所有地面起飞应设置为超过失速的速度，通常为10-30%。</Description>
      <Units>米/秒</Units>
      <Range>0 30</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </TKOFF_ROTATE_SPD>
    <TKOFF_THR_SLEW>
      <DisplayName>起飞油门增速</DisplayName>
      <Description>这个参数设置了自动起飞时，油门的增减速率。设置为0时，起飞将使用 THR_SLEWRATE 的设置数值。在侧倾旋转起飞时，最好设置为较低的油门增减速率，较慢的加速将增强地面转向的控制力。这个数值是百分比/秒，所以，20意味着5秒后才会达到起飞油门量。不推荐使用低于20的值，它会导致飞机在小油门量的时候就开始爬升。</Description>
      <Units>百分比</Units>
      <Range>0 127</Range>
      <Increment>1</Increment>
      <User>User</User>
    </TKOFF_THR_SLEW>
    <TKOFF_FLAP_PCNT>
      <DisplayName>起飞襟翼百分比</DisplayName>
      <Description>自动起飞时，襟翼打开的开度（百分比）。</Description>
      <Range>0 100</Range>
      <Units>百分比</Units>
      <User>Advanced</User>
    </TKOFF_FLAP_PCNT>
    <FBWA_TDRAG_CHAN>
      <DisplayName>FBWA模式下的后三点起飞模式</DisplayName>
      <Description>选择一个RC通道进行设置，该通道PWM值超过1700以上的时候，在FBW-A模式中，启用后三点起落架的起飞模式。该通道应该被设置到RC遥控的某个两段开关上。起飞使用时，一旦这个功能被打开，将保持这个起飞模式，直到飞机空速超过TKOFF_TDRAG_SPD1 参数的设定值，除非中途改变飞行模式，或俯仰姿态有变化。同时，这个功能一旦打开，升降舵将强制进入TKOFF_TDRAG_ELEV的设定值。这些功能都是为了能让后三点式飞机在FBW-A模式中更容易的起飞，同时方便处理自动起飞和转向。0为禁用。</Description>
      <User>Standard</User>
    </FBWA_TDRAG_CHAN>
    <LEVEL_ROLL_LIMIT>
      <DisplayName>水平飞行时侧倾度限制</DisplayName>
      <Description>平飞时允许机身进行侧倾调整的最大角度（例如5度）。比如在起飞着陆时，过大的允许角度，可能会使机翼擦碰到跑道。设置为0时，在自动起飞和着陆时将完全禁用方向保持。</Description>
      <Units>度</Units>
      <Range>0 45</Range>
      <Increment>1</Increment>
      <User>User</User>
    </LEVEL_ROLL_LIMIT>
    <LAND_PITCH_CD>
      <DisplayName>着陆俯仰角</DisplayName>
      <Description>在没有空速计的飞机自动着陆时，使用的俯仰分度（百分之一度）。</Description>
      <Units>分度</Units>
      <User>Advanced</User>
    </LAND_PITCH_CD>
    <LAND_FLARE_ALT>
      <DisplayName>着陆平飘高度</DisplayName>
      <Description>自动着陆时，在什么高度锁定机头方向并开始平飘到LAND_PITCH_CD设定的着陆俯仰角度</Description>
      <Units>米</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </LAND_FLARE_ALT>
    <LAND_FLARE_SEC>
      <DisplayName>着陆平飘时间</DisplayName>
      <Description>距着陆点还有有多长时间时，锁定方向和平飘到到LAND_PITCH_CD设定的俯仰角度。</Description>
      <Units>秒</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </LAND_FLARE_SEC>
    <NAV_CONTROLLER>
      <DisplayName>N导航控制器选择</DisplayName>
      <Description>允许使用什么导航控制系统，当前只有一个L1可选，未来可能会有增加实验性的选项。</Description>
      <Values>0:默认,1:L1控制器</Values>
      <User>Standard</User>
    </NAV_CONTROLLER>
    <ALT_MIX>
      <DisplayName>GPS混合气压定高比例</DisplayName>
      <Description>混合GPS高度和气压高度的计算权重比例，0为绝对依据GPS，1为绝对用气压，强烈建议不要更改默认值1，也就要保持使用气压定高，因为GPS定高实在不可靠。当然，除非你有个高精度的GPS，并且是在几万米以上的高空用气球投放飞机。</Description>
      <Units>百分比</Units>
      <Range>0 1</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </ALT_MIX>
    <ALT_CTRL_ALG>
      <DisplayName>高度控制算法</DisplayName>
      <Description>控制飞行高度用什么算法。默认的0会根据机身选择最合适的算法，当前这个默认的算法使用的是TECS（总体动力控制系统），未来会不定时的增加实验性的新算法。</Description>
      <Values>0:自动</Values>
      <User>Advanced</User>
    </ALT_CTRL_ALG>
    <ALT_OFFSET>
      <DisplayName>高度偏移量</DisplayName>
      <Description>在执行自动飞行（Auto）任务时，添加目标高度。这里可以使用全球的海拔高度到任务里。</Description>
      <Units>米</Units>
      <Range>-32767 32767</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </ALT_OFFSET>
    <WP_RADIUS>
      <DisplayName>航点半径</DisplayName>
      <Description>定义距离航点的最大半径距离，并在此距离之内经过即可算为已经抵达航点。为了防止飞机在抵达当前航点时，因为航路垂直于上个航点，而错过了航点导致飞机会反复绕圈。这里设置的最大半径完成线，只要穿过就算作已经抵达航点。注意，在一个航点前，导航控制器可能会在这个定义的最大半径之后才控制转向，这决定于转向角度的大小和当前飞机速度。最好设置这个参数较大于飞机的正常转向半径，这样导航控制器才能确保工作正常。如果设置这个参数过小，就会造成转弯过度的现象。</Description>
      <Units>Meters</Units>
      <Range>1 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </WP_RADIUS>
    <WP_MAX_RADIUS>
      <DisplayName>航点最大半径</DisplayName>
      <Description>设置一个距航点的最大距离来帮辅助确认抵达航点。这个参数优先于“跨越完成线”的逻辑去认为航点已经抵达，对于普通的自动控制，这个参数应该设为0。除非飞机只是接近定义的半径而反复绕圈试图抵达航点时，才建议修改此参数。 如果飞机的转弯半径大于这个设定值，还是会造成飞机反复绕圈。</Description>
      <Units>米</Units>
      <Range>0 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </WP_MAX_RADIUS>
    <WP_LOITER_RAD>
      <DisplayName>定点半径</DisplayName>
      <Description>定义飞机在进行定点飞行时，到定点中心的半径距离。如果设置为负值，将以该数值进行逆时针飞行。</Description>
      <Units>米</Units>
      <Range>-32767 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </WP_LOITER_RAD>
    <FENCE_ACTION>
      <DisplayName>触发围栏后的动作</DisplayName>
      <Description>设置围栏触发后怎么办。 设置为0不会有任何动作；设置为1时触发GUIDED模式, 同时目标航点成为围栏返回点；设置为2时只报告，不做任何动作；3会进入GUIDED模式并保持手动油门控制。</Description>
      <Values>0:不反应,1:Guided模式,2:只报告,3:手动油门的Guided模式</Values>
      <User>Standard</User>
    </FENCE_ACTION>
    <FENCE_TOTAL>
      <DisplayName>围栏数量</DisplayName>
      <Description>当前启用的围栏点数量。</Description>
      <User>Advanced</User>
    </FENCE_TOTAL>
    <FENCE_CHANNEL>
      <DisplayName>围栏遥控通道</DisplayName>
      <Description>开启围栏功能的RC遥控通道，PWM超过1750将开启围栏。</Description>
      <User>Standard</User>
    </FENCE_CHANNEL>
    <FENCE_MINALT>
      <DisplayName>围栏最小高度</DisplayName>
      <Description>触发围栏功能的最小高度限制。</Description>
      <Units>米</Units>
      <Range>0 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FENCE_MINALT>
    <FENCE_MAXALT>
      <DisplayName>围栏最大高度</DisplayName>
      <Description>触发围栏功能的最大高度。</Description>
      <Units>米</Units>
      <Range>0 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FENCE_MAXALT>
    <FENCE_RETALT>
      <DisplayName>围栏触发返回高度</DisplayName>
      <Description>定义围栏被触发后，飞机将返回到什么高度；0为回到围栏的最大高度和最小高度的中间点。</Description>
      <Units>米</Units>
      <Range>0 32767</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FENCE_RETALT>
    <FENCE_AUTOENABLE>
      <DisplayName>围栏自动开启</DisplayName>
      <Description>围栏自动开启功能，设置为1时，围栏在自动起飞时打开，并在开始自动降落时关闭。建议不要在目视飞行时使用，实在要用，就用通道开关（FENCE_CHANNEL）来控制围栏的启用与否。</Description>
      <Values>0:禁止自动启用,1:自动开启</Values>
      <User>Standard</User>
    </FENCE_AUTOENABLE>
    <FENCE_RET_RALLY>
      <DisplayName>围栏返回集结点</DisplayName>
      <Description>触发围栏后是否返回集结点，1为打开此功能；如果没有设置集结点，将会返回home point。</Description>
      <Values>0:返回出发点,1:返回最近的集结点</Values>
      <User>Standard</User>
    </FENCE_RET_RALLY>
    <STALL_PREVENTION>
      <DisplayName>阻止失速</DisplayName>
      <Description>这个参数用来控制阻止失速的功能，功能包括限制低速下的侧倾角度和提高转弯时的最小空速，这些限制都是基于倾转时的空气动力因素，且这个参数依托于正确设置的 ARSPD_FBW_MIN 数值。注意，如果飞机没有空速计，阻止失速功能将使用基于地速和气流的评估空速，进行自动倾转响应。 这个合成的空速可能会不正确，所以在没有空速计的情况下，不能绝对认为这个功能事有效地。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
    </STALL_PREVENTION>
    <ARSPD_FBW_MIN>
      <DisplayName>最小空速</DisplayName>
      <Description>在有自动油门控制的飞行模式中，所允许的最小空速。这个数值应设置为高于飞机失速速度的20%左右，同时这个参数也作用于STALL_PREVENTION参数。</Description>
      <Units>米/秒</Units>
      <Range>5 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </ARSPD_FBW_MIN>
    <ARSPD_FBW_MAX>
      <DisplayName>最大空速</DisplayName>
      <Description>在所有自动油门控制的飞行模式中，所允许的最大空速。你应该确保这个数值足够高于ARSPD_FBW_MIN 的参数值，来保证足够的高度和空速控制能力，建议该值最少要超过 ARSPD_FBW_MIN数值50%以上。</Description>
      <Units>米/秒</Units>
      <Range>5 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </ARSPD_FBW_MAX>
    <FBWB_ELEV_REV>
      <DisplayName>FBW模式下升降舵反向</DisplayName>
      <Description>在FBWB和CRUISE模式中，升降舵反向。设置为0时，向后拉升降舵杆将会降低高度；设置为1时，向后拉升降舵杆为提升高度。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
    </FBWB_ELEV_REV>
    <TERRAIN_FOLLOW>
      <DisplayName>使用地形跟随</DisplayName>
      <Description>本参数允许CRUISE模式, FBWB模式, RTL和集结点等飞行模式使用地形跟随功能。使用这个功能需要设置 TERRAIN_ENABLE 为1，这将允许从地面站获得地形数据，且需要地面站支持发送地形数据到飞控。当允许使用地形跟随功能时，CRUISE和FBWB飞行模式将保持飞机在地形高度之上，而不是home点高度之上，这意味着有时飞行的高度可能还会低于出发点高度。 在返回（RTL)模式下，出发点的实际高度计算会基于地形高度之上。集结点的高度也会被设置到地形高度以上。飞行中，不管实际高度是高于home点，还是高于地形，都会预先在航点上有所标示，且不会影响具体的飞行任务。要使用地形跟随功能，在地面站规划航点时，需要将航点的种类改为地形高度航点。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
    </TERRAIN_FOLLOW>
    <TERRAIN_LOOKAHD>
      <DisplayName>地形预判</DisplayName>
      <Description>这里控制地形跟随提前计算多远的距离，来确保跟随在前方的地形的高度之上。0值为不预判，所以控制器将只跟踪飞机之下的地形。在AUTO模式下也不会对下一个航点进行预判。</Description>
      <Range>0 10000</Range>
      <Units>米</Units>
      <User>Standard</User>
    </TERRAIN_LOOKAHD>
    <FBWB_CLIMB_RATE>
      <DisplayName>FBW-B高度改变速率</DisplayName>
      <Description>在FBWB和CRUISE模式中，使用升降舵打满时，将会改变高度的速比。注意，飞机的实际爬升速率可以低于这个数值，这取决于空速和油门控制的设置。例如，设置为默认的2m/s，你满舵爬升10秒，将会爬升20米。</Description>
      <Range>1-10</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </FBWB_CLIMB_RATE>
    <THR_MIN>
      <DisplayName>最小油门设置</DisplayName>
      <Description>飞控控制的最小油门开启比例（百分比）。在最后阶段的自动降落应该设置为0。</Description>
      <Units>百分比</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MIN>
    <THR_MAX>
      <DisplayName>最大油门设置</DisplayName>
      <Description>飞控控制的最大油门开启比例（百分比）。</Description>
      <Units>百分比</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MAX>
    <TKOFF_THR_MAX>
      <DisplayName>起飞最大油门量</DisplayName>
      <Description>自动起飞时设置的最大油门量。如果设为0，将应用 THR_MAX 参数（自动控制时的最大油门量） 设定的油门量。</Description>
      <Units>百分比</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </TKOFF_THR_MAX>
    <THR_SLEWRATE>
      <DisplayName>油门变化速率</DisplayName>
      <Description>每秒油门量变化的百分比。假如设为10，那么推油门时，油门的增加速度不会超过油门总量的10%/秒。</Description>
      <Units>百分比</Units>
      <Range>0 127</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_SLEWRATE>
    <FLAP_SLEWRATE>
      <DisplayName>襟翼变化速率Flap slew rate</DisplayName>
      <Description>襟翼输出的最大变化速率百分比/秒。比如，设定25，会让襟翼在一秒之内的动作速度，不超过襟翼总行程的25%。0值为不限定速率。</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </FLAP_SLEWRATE>
    <THR_SUPP_MAN>
      <DisplayName>手动油门直通自动油门</DisplayName>
      <Description>在自动飞行模式下，当飞控需要抑制油门时，通常会强制到0油门。如果允许这个选项，油门限制将被手动油门控制所取代。这在汽油发动机上很有用处，它能让你在起飞前一直手动控制保持怠速。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Advanced</User>
    </THR_SUPP_MAN>
    <THR_PASS_STAB>
      <DisplayName>自稳模式中的油门直通</DisplayName>
      <Description>这个选项如果被允许使用，那么在 STABILIZE, FBWA 或 ACRO 飞行模式中，RC油门控制将直通到输出，不再受到最小油门量 THR_MIN 和最大油门量THR_MAX 的限制。这将对使用汽油发动机的风门开关设置非常有用，因为它抑制了油门低于最小时的影响。同时，对于比较短的跑道，可以让电动飞机用全油门快速升空，并在空中自动油门控制时，按照限定的最大油门量飞行，这在长时间处于爬升状态时，可以降低电调负载，节省电量。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Advanced</User>
    </THR_PASS_STAB>
    <THR_FAILSAFE>
      <DisplayName>油门失控保护</DisplayName>
      <Description>当油门通道出现问题时，是否使用失控保护功能。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
    </THR_FAILSAFE>
    <THR_FS_VALUE>
      <DisplayName>油门失控保护触发值</DisplayName>
      <Description>当油门通道PWM值低于多少时，触发失控保护功能。</Description>
      <Range>925 1100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_FS_VALUE>
    <TRIM_THROTTLE>
      <DisplayName>巡航油门百分比</DisplayName>
      <Description>正常飞行时的目标油门百分比。</Description>
      <Units>百分比</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </TRIM_THROTTLE>
    <THROTTLE_NUDGE>
      <DisplayName>油门助推</DisplayName>
      <Description>当允许这个选项时，在任何有自动油门的飞行模式中，油门摇杆的位置决定了持续增加或减少油门量的变化。如果使用了空速计，油门摇杆的位置超过50%时，飞控将持续增加空速直到达到ARSPD_FBW_MAX参数所设定的最大空速。如果没有空速计，油门摇杆推到什么位置，飞控就增加电机转速到什么位置。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
    </THROTTLE_NUDGE>
    <FS_SHORT_ACTN>
      <DisplayName>短时失控保护动作</DisplayName>
      <Description>在AUTO, GUIDED 或 LOITER模式下，短超时 FS_SHORT_TIMEOUT 参数设定的时间达到，并触发失控保护后的选项。短时失控保护可以被丢失遥控信号（参考THR_FS_VALUE参数）和丢失地面站控制（参考FS_GCS_ENABL参数）所触发。如果设置为1，在有自稳和手动的模式下，短时失控保护将的触发将切换飞行模式到CIRCLE模式；如果设置为2，将切换到FBWA模式。在所有其他模式下（包括ATUO和GUIDED模式），如果设置为0，短时失控保护的触发不会改变飞行模式；如果设为1，将改为CIRCLE模式；如果设为2，将改为FBWA模式。参考 FS_LONG_ACTN 和 FS_LONG_TIMEOUT参数所触发的动作。</Description>
      <Values>0:继续任务,1:绕圈/返回出发点,2:滑行</Values>
      <User>Standard</User>
    </FS_SHORT_ACTN>
    <FS_SHORT_TIMEOUT>
      <DisplayName>短时失控保护超时</DisplayName>
      <Description>失控保护情况出现后，多长时间触发短时失控保护动作。默认为1.5秒。</Description>
      <Units>秒</Units>
      <Range>1 100</Range>
      <Increment>0.5</Increment>
      <User>Standard</User>
    </FS_SHORT_TIMEOUT>
    <FS_LONG_ACTN>
      <DisplayName>长时失控保护动作</DisplayName>
      <Description>长时失控保护的时间达到后，会采取的动作。如果设置为0，不会触发任何动作。如果设为1，将触发回家（RTL）模式。如果设为2，将进入FBWA模式。</Description>
      <Values>0:继续,1:返回,2:滑翔</Values>
      <User>Standard</User>
    </FS_LONG_ACTN>
    <FS_LONG_TIMEOUT>
      <DisplayName>长时失控保护超时</DisplayName>
      <Description>失控保护情况出现后，多长时间触发长时失控保护动作。默认为20秒。</Description>
      <Units>秒</Units>
      <Range>1 300</Range>
      <Increment>0.5</Increment>
      <User>Standard</User>
    </FS_LONG_TIMEOUT>
    <FS_BATT_VOLTAGE>
      <DisplayName>电压保护</DisplayName>
      <Description>触发失控保护的电压。设置为0为禁用此功能。如果填写了具体的数值，而电压一旦低于此数值超过10秒钟，飞控将进入返回（RTL）模式。</Description>
      <Units>伏特</Units>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </FS_BATT_VOLTAGE>
    <FS_BATT_MAH>
      <DisplayName>电池电量保护（毫安时）</DisplayName>
      <Description>低于设定的电池容量，将会触发失控保护。设为0禁用此功能。如果电池剩余容量低于设置的数值，将会立即触发返回（RTL）模式。</Description>
      <Units>毫安时</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </FS_BATT_MAH>
    <FS_GCS_ENABL>
      <DisplayName>地面站失控保护</DisplayName>
      <Description>是否允许地面站数据传输的失控保护功能。如果FS_LONG_TIMEOUT参数设定的时间依然没有MAVLink心跳信号，将触发失控保护。这里有两种情况可以设置，设置为1时，如果飞控收不到MAVLink心跳信号，将触发失控保护。设置为2意味着不管是收不到飞控心跳信号，还是无法接收飞控的更新数据，都会触发失控保护。这个情况在 RADIO_STATUS里的remrssi项显示为0. (一般是由于在单向传输数据的地面站或飞控端的无线电噪音造成的）。警告：允许这个选项可能会在地面调试的时候，造成电机意外启动，所以应设置解锁要求ARMING_REQUIRED参数为允许。</Description>
      <Values>0:禁用,1:心跳包,2:心跳包和REMRSSI</Values>
      <User>Standard</User>
    </FS_GCS_ENABL>
    <FLTMODE_CH>
      <DisplayName>飞行模式切换通道</DisplayName>
      <Description>飞行模式切换所使用的遥控通道。</Description>
      <User>Advanced</User>
    </FLTMODE_CH>
    <FLTMODE1>
      <DisplayName>飞行模式1</DisplayName>
      <Values>0:手动Manual,1:绕圈CIRCLE,2:自稳STABILIZE,3:教练TRAINING,4:特技ACRO,5:电传A|FBWA,6:电传B|FBWB,7:巡航CRUISE,8:自动调参AUTOTUNE,10:自动Auto,11:返航RTL,12:留待Loiter,15:引导Guided</Values>
      <User>Standard</User>
      <Description>Flight mode for switch position 1 (910 to 1230 and above 2049)</Description>
    </FLTMODE1>
    <FLTMODE2>
      <DisplayName>飞行模式2</DisplayName>
      <Description>Flight mode for switch position 2 (1231 to 1360)</Description>
      <Values>0:手动Manual,1:绕圈CIRCLE,2:自稳STABILIZE,3:教练TRAINING,4:特技ACRO,5:电传A|FBWA,6:电传B|FBWB,7:巡航CRUISE,8:自动调参AUTOTUNE,10:自动Auto,11:返航RTL,12:留待Loiter,15:引导Guided</Values>
      <User>Standard</User>
    </FLTMODE2>
    <FLTMODE3>
      <DisplayName>飞行模式3</DisplayName>
      <Description>Flight mode for switch position 3 (1361 to 1490)</Description>
      <Values>0:手动Manual,1:绕圈CIRCLE,2:自稳STABILIZE,3:教练TRAINING,4:特技ACRO,5:电传A|FBWA,6:电传B|FBWB,7:巡航CRUISE,8:自动调参AUTOTUNE,10:自动Auto,11:返航RTL,12:留待Loiter,15:引导Guided</Values>
      <User>Standard</User>
    </FLTMODE3>
    <FLTMODE4>
      <DisplayName>飞行模式4</DisplayName>
      <Description>Flight mode for switch position 4 (1491 to 1620)</Description>
      <Values>0:手动Manual,1:绕圈CIRCLE,2:自稳STABILIZE,3:教练TRAINING,4:特技ACRO,5:电传A|FBWA,6:电传B|FBWB,7:巡航CRUISE,8:自动调参AUTOTUNE,10:自动Auto,11:返航RTL,12:留待Loiter,15:引导Guided</Values>
      <User>Standard</User>
    </FLTMODE4>
    <FLTMODE5>
      <DisplayName>飞行模式5</DisplayName>
      <Description>Flight mode for switch position 5 (1621 to 1749)</Description>
      <Values>0:手动Manual,1:绕圈CIRCLE,2:自稳STABILIZE,3:教练TRAINING,4:特技ACRO,5:电传A|FBWA,6:电传B|FBWB,7:巡航CRUISE,8:自动调参AUTOTUNE,10:自动Auto,11:返航RTL,12:留待Loiter,15:引导Guided</Values>
      <User>Standard</User>
    </FLTMODE5>
    <FLTMODE6>
      <DisplayName>飞行模式6</DisplayName>
      <Description>Flight mode for switch position 6 (1750 to 2049)</Description>
      <Values>0:手动Manual,1:绕圈CIRCLE,2:自稳STABILIZE,3:教练TRAINING,4:特技ACRO,5:电传A|FBWA,6:电传B|FBWB,7:巡航CRUISE,8:自动调参AUTOTUNE,10:自动Auto,11:返航RTL,12:留待Loiter,15:引导Guided</Values>
      <User>Standard</User>
    </FLTMODE6>
    <LIM_ROLL_CD>
      <DisplayName>最大侧倾角度警告</DisplayName>
      <Description>左右两个方向的侧倾度超过设定值后报警。</Description>
      <Units>分度</Units>
      <Range>0 9000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </LIM_ROLL_CD>
    <LIM_PITCH_MAX>
      <DisplayName>最大爬升角度警告</DisplayName>
      <Description>爬升角度超过设定值后报警。</Description>
      <Units>分度</Units>
      <Range>0 9000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </LIM_PITCH_MAX>
    <LIM_PITCH_MIN>
      <DisplayName>最小下降角度警告</DisplayName>
      <Description>下降角度超过设定值后报警。</Description>
      <Units>centi-Degrees</Units>
      <Range>-9000 0</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </LIM_PITCH_MIN>
    <ACRO_ROLL_RATE>
      <DisplayName>特技模式的侧倾速率</DisplayName>
      <Description>在特技模式下，满打翻转舵时最大的侧倾速率。</Description>
      <Units>度/秒</Units>
      <Range>10 500</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </ACRO_ROLL_RATE>
    <ACRO_PITCH_RATE>
      <DisplayName>特技模式的俯仰速率</DisplayName>
      <Description>在特技模式下，满打升降舵时最大的升降速率。</Description>
      <Units>度/秒</Units>
      <Range>10 500</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </ACRO_PITCH_RATE>
    <ACRO_LOCKING>
      <DisplayName>特技模式高度锁定</DisplayName>
      <Description>允许这个选项，在特技模式下松开遥控摇杆，将会锁定飞机的当前高度上。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
    </ACRO_LOCKING>
    <GROUND_STEER_ALT>
      <DisplayName>地面转向高度</DisplayName>
      <Description>设置在什么高度上，开始在方向舵上使用地面转向控制来修正方向。非0的数值，将会启用STEER2SRV控制器，在home的高度限定之内用转向舵控制。</Description>
      <Units>米</Units>
      <Range>-100 100</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </GROUND_STEER_ALT>
    <GROUND_STEER_DPS>
      <DisplayName>地面转向速率</DisplayName>
      <Description>在RC上满方向舵杆时，应用在地面转向的舵面速率为多少度/秒。</Description>
      <Units>度/秒</Units>
      <Range>10 360</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </GROUND_STEER_DPS>
    <TRIM_AUTO>
      <DisplayName>自动中间位调整</DisplayName>
      <Description>是否允许从手动模式（manual）切换到其它飞行模式的时候，把当前副翼、升降舵和方向舵的RC遥控杆位置，定义为其它飞行模式对应的遥控杆中心点。它将使用当前各相关遥控杆的PWM值，作为RC1_TRIM, RC2_TRIM 和 RC4_TRIM 的值。默认为0是因为某些飞手不知道这个功能时，会导致误操作。启用这个选项后，用手动模式起飞，看看飞机有什么反应，然后切到FBW-A模式调整中间点，然后在手动模式中再次调整。每次切回手动模式的时候，APM都会设置输入端为中间点。全部设置好后，可以禁用此功能。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
    </TRIM_AUTO>
    <ELEVON_MIXING>
      <DisplayName>升降副翼混控</DisplayName>
      <Description>是否允许在升降副翼的输入和输出通道都使用混控。如果只想在输出通道使用升降副翼混控，到ELEVON_OUTPUT进行设置。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>User</User>
    </ELEVON_MIXING>
    <ELEVON_REVERSE>
      <DisplayName>升降副翼反向</DisplayName>
      <Description>反向升降副翼混控。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>User</User>
    </ELEVON_REVERSE>
    <ELEVON_CH1_REV>
      <DisplayName>升降副翼1通道反向</DisplayName>
      <Description>反向升降副翼通道1。</Description>
      <Values>-1:禁用,1:允许</Values>
      <User>User</User>
    </ELEVON_CH1_REV>
    <ELEVON_CH2_REV>
      <DisplayName>升降副翼2通道反向</DisplayName>
      <Description>反向升降副翼通道2.</Description>
      <Values>-1:禁用,1:允许</Values>
      <User>User</User>
    </ELEVON_CH2_REV>
    <VTAIL_OUTPUT>
      <DisplayName>V形尾翼输出设置</DisplayName>
      <Description>V尾的控制模式。允许使用的话，APM将对升降和方向通道进行软件混合控制。这里有4种不同的混控模式，将会对V尾飞机尾部的2个舵机分别进行控制。注意：不能设置RC输入为线路直通。</Description>
      <Values>0:禁用,1:上上,2:上下,3:下上,4:下下</Values>
      <User>User</User>
    </VTAIL_OUTPUT>
    <ELEVON_OUTPUT>
      <DisplayName>升降副翼输出设置</DisplayName>
      <Description>使用软件进行升降副翼输出通道的混控。如果允许使用，APM将对副翼和升降舵通道进行软件混控。这里提供4种不同的混控模式，使升降舵集合进两个升降副翼系统。注意：这里不能使用RC遥控信号直通到混控输出端，比如通道8功能设置为手动（manual）。同时要对 MIXING_GAIN 进行混控增益选择。</Description>
      <Values>0:禁用,1:上上,2:上下,3:下上,4:下下</Values>
      <User>User</User>
    </ELEVON_OUTPUT>
    <MIXING_GAIN>
      <DisplayName>混控增益</DisplayName>
      <Description>对V尾和升降副翼的混控输出增益。默认为0.5，可以确保不让混控过载，并允许上述两种混控在输入通道达到极限，而输出通道还能保持控制。硬件混控经常设置为1.0的增益，让舵机反应更快, 但是会有过载。如果在V尾或升降副翼上的舵机没有足够的反应速度，就可以在此提高这个参数，这个混控允许的输出范围在900-2100微秒。</Description>
      <Range>0.5 1.2</Range>
      <User>User</User>
    </MIXING_GAIN>
    <SYS_NUM_RESETS>
      <DisplayName>重置次数</DisplayName>
      <Description>APM板的重置次数。</Description>
      <User>Advanced</User>
    </SYS_NUM_RESETS>
    <LOG_BITMASK>
      <DisplayName>Log bitmask</DisplayName>
      <Description>选择需要保存的Log文件种类，在APM2上，只有4MByte闪存，所以不要保存太多种类。各Log种类如下： ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, LogWhenDisarmed=65536。将所需log功能的编号相加填入即可存储所需的数据。</Description>
      <Values>0:禁用,5190:APM2-默认,65535:PX4/Pixhawk-默认</Values>
      <User>Advanced</User>
    </LOG_BITMASK>
    <RST_SWITCH_CH>
      <DisplayName>重置飞行模式通道</DisplayName>
      <Description>设置一个RC通道，用来重新设定触发围栏前的最后一个飞行模式。</Description>
      <User>Advanced</User>
    </RST_SWITCH_CH>
    <RST_MISSION_CH>
      <DisplayName>重置任务通道</DisplayName>
      <Description>重置任务到第一航点的RC通道设定。当这个设定的通道PWM值超过1750，任务将被重置。0为禁用。</Description>
      <User>Advanced</User>
    </RST_MISSION_CH>
    <TRIM_ARSPD_CM>
      <DisplayName>目标空速</DisplayName>
      <Description>在Auto模式下，当空速达到该设定值的时候，将开始对准目标点飞行。</Description>
      <Units>cm/s</Units>
      <User>User</User>
    </TRIM_ARSPD_CM>
    <SCALING_SPEED>
      <DisplayName>速度测量计算</DisplayName>
      <Description>空速达到多少米/秒时，进行线性速度计算。注意，更改该参数会影响所有的P、I、D参数。</Description>
      <Units>米/秒</Units>
      <User>Advanced</User>
    </SCALING_SPEED>
    <MIN_GNDSPD_CM>
      <DisplayName>最小地面速度</DisplayName>
      <Description>使用空速计控制飞机时，所允许的最小地面速度。</Description>
      <Units>厘米/秒</Units>
      <User>Advanced</User>
    </MIN_GNDSPD_CM>
    <TRIM_PITCH_CD>
      <DisplayName>俯仰角度偏移量</DisplayName>
      <Description>用来修正飞行中的俯仰中间点。建议在地面平置飞机进行调整。</Description>
      <Units>分度</Units>
      <User>Advanced</User>
    </TRIM_PITCH_CD>
    <ALT_HOLD_RTL>
      <DisplayName>返回高度</DisplayName>
      <Description>返回到出发点的高度，这将是飞机在返回时瞄准的高度，也是回到到出发点并盘旋的高度，如果设为-1，飞机将使用当前高度进入RTL模式。注意，如果设定了集结点（rally point），那么集结点的预设高度，将会替换这个RTL模式的预设高度。</Description>
      <Units>厘米</Units>
      <User>User</User>
    </ALT_HOLD_RTL>
    <ALT_HOLD_FBWCM>
      <DisplayName>FBWB模式下的最小飞行高度</DisplayName>
      <Description>在FBW-B和CRUISE飞行模式下，限制的最低飞行高度，如果飞机下降到这个设定值，飞控会自动修正，不使飞机低于这个预设的最小高度。0为不限制。</Description>
      <Units>厘米</Units>
      <User>User</User>
    </ALT_HOLD_FBWCM>
    <MAG_ENABLE>
      <DisplayName>允许使用罗盘</DisplayName>
      <Description>是否启用罗盘，注意：这个选项跟COMPASS_USE是不同的。这里启用的低感度的感应器，并且允许保存log文件，要使用罗盘进行导航，还必须设置 COMPASS_USE 为 1。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
    </MAG_ENABLE>
    <FLAP_IN_CHANNEL>
      <DisplayName>襟翼输入通道</DisplayName>
      <Description>使用哪个遥控通道来控制襟翼。如果设定了某个遥控通道来控制，这个通道的最小到中心位置的控制行程会决定襟翼开度的百分比，如果输入信号高于中心位置的信号值，将使襟翼反向打开，变成减速板的功能。本选项需要结合启用该输出通道FUNCTION设置里的一个襟翼功能。当该遥控通道与自动襟翼功能组合使用后，会有更多种类的襟翼开启比例。这里必须同时启用FLAPERON_OUTPUT里的襟副翼混控设定。</Description>
      <User>User</User>
    </FLAP_IN_CHANNEL>
    <FLAPERON_OUTPUT>
      <DisplayName>襟副翼输出设置</DisplayName>
      <Description>是否允许软件控制襟副翼的输出。如果启用这个参数，APM将通过软件，给FLAPERON1和FLAPERON2这两个FUNCTION选项里的辅助选项，进行襟副翼混控调制。这里有4种不同的混控模式，对应到襟翼和副翼的混控伺服系统。注意：这里不能使用RC遥控信号直通到混控输出端，比如在APM1的通道8上使用手动控制。所以，如果你使用APM1，就要先设置飞行模式的控制通道到8以外的其他通道。同时要注意对混控的增益（MIXING_GAIN）调整到合适的大小。本参数不能与升降副翼（ELEVON_OUTPUT） 或 升降副翼增益（ELEVON_MIXING） 进行关联设置。</Description>
      <Values>0:禁用,1:上上,2:上下,3:下上,4:下下</Values>
      <User>User</User>
    </FLAPERON_OUTPUT>
    <FLAP_1_PERCNT>
      <DisplayName>襟翼1位置</DisplayName>
      <Description>当FLAP_1_SPEED参数的值被触发后，襟翼开启到什么位置（襟翼开启的百分比），0为禁止使用襟翼。</Description>
      <Range>0 100</Range>
      <Units>百分比</Units>
      <User>Advanced</User>
    </FLAP_1_PERCNT>
    <FLAP_1_SPEED>
      <DisplayName>襟翼1开启速度</DisplayName>
      <Description>当目标空速触及这个数值时，触发FLAP_1_PERCNT定义的襟翼开度。注意，这个速度应该大于或等于FLAP_2_SPEED。</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <Units>米/秒</Units>
      <User>Advanced</User>
    </FLAP_1_SPEED>
    <FLAP_2_PERCNT>
      <DisplayName>襟翼2位置</DisplayName>
      <Description>当FLAP_2_SPEED参数的值被触发后，襟翼开启到什么位置（襟翼开启的百分比），0为禁止使用襟翼。</Description>
      <Range>0 100</Range>
      <Units>百分比</Units>
      <User>Advanced</User>
    </FLAP_2_PERCNT>
    <FLAP_2_SPEED>
      <DisplayName>襟翼2开启速度</DisplayName>
      <Description>当目标空速触及这个数值时，触发FLAP_2_PERCNT定义的襟翼开度。注意，FLAP_1_SPEED应该大于或等于FLAP_2_SPEED。</Description>
      <Range>0 100</Range>
      <Units>米/秒</Units>
      <Increment>1</Increment>
      <User>Advanced</User>
    </FLAP_2_SPEED>
    <LAND_FLAP_PERCNT>
      <DisplayName>着陆时襟翼开启程度</DisplayName>
      <Description>在自动着陆进近和平飘时襟翼开启的百分比。</Description>
      <Range>0 100</Range>
      <Units>百分比</Units>
      <User>Advanced</User>
    </LAND_FLAP_PERCNT>
    <OVERRIDE_CHAN>
      <DisplayName>PX4IO override channel</DisplayName>
      <Description>If set to a non-zero value then this is an RC input channel number to use for testing manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU will stop sending servo controls to the PX4IO board, which will trigger the PX4IO board to start using its failsafe override behaviour, which should give you manual control of the aircraft. That allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is normally only set to a non-zero value for ground testing purposes. When the override channel is used it also forces the PX4 safety switch into an armed state. This allows it to be used as a way to re-arm a plane after an in-flight reboot. Use in that way is considered a developer option, for people testing unstable developer code. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered the 6 auxillary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels.</Description>
      <User>Advanced</User>
    </OVERRIDE_CHAN>
    <RSSI_PIN>
      <DisplayName>RSSI信号感应针脚</DisplayName>
      <Description>选择那个辅助针脚用来接收RSSI电压。这里默认的最大rssi为5v电压，0为最小。</Description>
      <Values>-1:禁用, 0:APM2 A0, 1:APM2 A1, 13:APM2 A13, 103:Pixhawk SBUS</Values>
      <User>Standard</User>
    </RSSI_PIN>
    <RSSI_RANGE>
      <DisplayName>定义接收RSSI的电压范围</DisplayName>
      <Description>定义接收RSSI的电压范围</Description>
      <Units>伏特</Units>
      <Values>3.3:3.3V, 5.0:5V</Values>
      <User>Standard</User>
    </RSSI_RANGE>
    <INVERTEDFLT_CH>
      <DisplayName>倒飞遥控通道</DisplayName>
      <Description>设置某个RC输入通道控制倒飞。当设置为某个通道后，该通道PWM值一旦超过1750，APM会控制飞机反转进行倒飞。</Description>
      <Values>0:禁用,1:通道1,2:通道2,3:通道3,4:通道4,5:通道5,6:通道6,7:通道7,8:通道8</Values>
      <User>Standard</User>
    </INVERTEDFLT_CH>
    <HIL_SERVOS>
      <DisplayName>HIL Servos enable</DisplayName>
      <Description>This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </HIL_SERVOS>
    <HIL_ERR_LIMIT>
      <DisplayName>Limit of error in HIL attitude before reset</DisplayName>
      <Description>This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies.</Description>
      <Units>degrees</Units>
      <Range>0 90</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </HIL_ERR_LIMIT>
    <RTL_AUTOLAND>
      <DisplayName>返回并自动着陆</DisplayName>
      <Description>返回出发点后自动执行着陆动作序列，这需要用 DO_LAND_START 任务设置并激活为一个着陆序列。当前位置会算则最近的着陆序列。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
      <Group>GND_</Group>
      <Path>../libraries/AP_Baro/AP_Baro.cpp</Path>
    </RTL_AUTOLAND>
    <RNGFND_LANDING>
      <DisplayName>着陆时使用测距仪</DisplayName>
      <Description>允许这个参数将会在自动着陆时使用测距仪。测距仪将会在进近和最后平飘时都会被使用。</Description>
      <Values>0:禁用,1:允许</Values>
      <User>Standard</User>
      <Group>TERRAIN_</Group>
      <Path>../libraries/AP_Terrain/AP_Terrain.cpp</Path>
    </RNGFND_LANDING>
  </ArduPlane>
  <ArduRover>
    <RC1_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MIN>
    <RC1_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_TRIM>
    <RC1_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MAX>
    <RC1_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC1_REV>
    <RC1_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC1_DZ>
    <RC2_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MIN>
    <RC2_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_TRIM>
    <RC2_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MAX>
    <RC2_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC2_REV>
    <RC2_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC2_DZ>
    <RC3_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MIN>
    <RC3_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_TRIM>
    <RC3_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC3_MAX>
    <RC3_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC3_REV>
    <RC3_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC3_DZ>
    <RC4_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MIN>
    <RC4_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_TRIM>
    <RC4_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC4_MAX>
    <RC4_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC4_REV>
    <RC4_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC4_DZ>
    <RC4_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC4_FUNCTION>
    <RC5_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MIN>
    <RC5_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_TRIM>
    <RC5_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC5_MAX>
    <RC5_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC5_REV>
    <RC5_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC5_DZ>
    <RC5_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC5_FUNCTION>
    <RC6_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MIN>
    <RC6_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_TRIM>
    <RC6_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC6_MAX>
    <RC6_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC6_REV>
    <RC6_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC6_DZ>
    <RC6_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC6_FUNCTION>
    <RC7_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MIN>
    <RC7_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_TRIM>
    <RC7_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC7_MAX>
    <RC7_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC7_REV>
    <RC7_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC7_DZ>
    <RC7_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC7_FUNCTION>
    <RC8_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MIN>
    <RC8_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_TRIM>
    <RC8_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC8_MAX>
    <RC8_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC8_REV>
    <RC8_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC8_DZ>
    <RC8_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC8_FUNCTION>
    <RC9_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MIN>
    <RC9_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_TRIM>
    <RC9_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC9_MAX>
    <RC9_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC9_REV>
    <RC9_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC9_DZ>
    <RC9_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC9_FUNCTION>
    <RC10_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MIN>
    <RC10_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_TRIM>
    <RC10_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC10_MAX>
    <RC10_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC10_REV>
    <RC10_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC10_DZ>
    <RC10_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC10_FUNCTION>
    <RC11_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MIN>
    <RC11_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_TRIM>
    <RC11_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC11_MAX>
    <RC11_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC11_REV>
    <RC11_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC11_DZ>
    <RC11_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC11_FUNCTION>
    <RC12_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MIN>
    <RC12_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_TRIM>
    <RC12_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC12_MAX>
    <RC12_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC12_REV>
    <RC12_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC12_DZ>
    <RC12_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC12_FUNCTION>
    <RC13_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MIN>
    <RC13_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_TRIM>
    <RC13_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC13_MAX>
    <RC13_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC13_REV>
    <RC13_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC13_DZ>
    <RC13_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC13_FUNCTION>
    <RC14_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MIN>
    <RC14_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_TRIM>
    <RC14_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC14_MAX>
    <RC14_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC14_REV>
    <RC14_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC14_DZ>
    <RC14_FUNCTION>
      <DisplayName>伺服输出功能</DisplayName>
      <Description>将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function</Description>
      <Values>0:禁用,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute</Values>
      <User>Standard</User>
    </RC14_FUNCTION>
    <STEER2SRV_TCONST>
      <DisplayName>Steering Time Constant</DisplayName>
      <Description>This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve.</Description>
      <Range>0.4 1.0</Range>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </STEER2SRV_TCONST>
    <STEER2SRV_P>
      <DisplayName>Steering turning gain</DisplayName>
      <Description>The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>User</User>
    </STEER2SRV_P>
    <STEER2SRV_I>
      <DisplayName>Integrator Gain</DisplayName>
      <Description>This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.</Description>
      <Range>0 1.0</Range>
      <Increment>0.05</Increment>
      <User>User</User>
    </STEER2SRV_I>
    <STEER2SRV_D>
      <DisplayName>Damping Gain</DisplayName>
      <Description>This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.</Description>
      <Range>0 0.1</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </STEER2SRV_D>
    <STEER2SRV_IMAX>
      <DisplayName>Integrator limit</DisplayName>
      <Description>This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.</Description>
      <Range>0 4500</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </STEER2SRV_IMAX>
    <STEER2SRV_MINSPD>
      <DisplayName>Minimum speed</DisplayName>
      <Description>This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still driver slower than this limit, but the steering calculations will be done based on this minimum speed.</Description>
      <Range>0 5</Range>
      <Increment>0.1</Increment>
      <Units>m/s</Units>
      <User>User</User>
    </STEER2SRV_MINSPD>
    <COMPASS_OFS_X>
      <DisplayName>Compass offsets on the X axis</DisplayName>
      <Description>Offset to be added to the compass x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_X>
    <COMPASS_OFS_Y>
      <DisplayName>Compass offsets on the Y axis</DisplayName>
      <Description>Offset to be added to the compass y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Y>
    <COMPASS_OFS_Z>
      <DisplayName>Compass offsets on the Z axis</DisplayName>
      <Description>Offset to be added to the compass z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Z>
    <COMPASS_DEC>
      <DisplayName>Compass declination</DisplayName>
      <Description>An angle to compensate between the true north and magnetic north</Description>
      <Range>-3.142 3.142</Range>
      <Units>Radians</Units>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </COMPASS_DEC>
    <COMPASS_LEARN>
      <DisplayName>Learn compass offsets automatically</DisplayName>
      <Description>Enable or disable the automatic learning of compass offsets</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_LEARN>
    <COMPASS_USE>
      <DisplayName>Use compass for yaw</DisplayName>
      <Description>Enable or disable the use of the compass (instead of the GPS) for determining heading</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE>
    <COMPASS_AUTODEC>
      <DisplayName>Auto Declination</DisplayName>
      <Description>Enable or disable the automatic calculation of the declination based on gps location</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_AUTODEC>
    <COMPASS_MOTCT>
      <DisplayName>Motor interference compensation type</DisplayName>
      <Description>Set motor interference compensation type to disabled, throttle or current.  Do not change manually.</Description>
      <Values>0:Disabled,1:Use Throttle,2:Use Current</Values>
      <Increment>1</Increment>
    </COMPASS_MOTCT>
    <COMPASS_MOT_X>
      <DisplayName>Motor interference compensation for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_X>
    <COMPASS_MOT_Y>
      <DisplayName>Motor interference compensation for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Y>
    <COMPASS_MOT_Z>
      <DisplayName>Motor interference compensation for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Z>
    <COMPASS_ORIENT>
      <DisplayName>Compass orientation</DisplayName>
      <Description>The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT>
    <COMPASS_EXTERNAL>
      <DisplayName>Compass is attached via an external cable</DisplayName>
      <Description>Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL>
    <COMPASS_OFS2_X>
      <DisplayName>Compass2 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass2's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_X>
    <COMPASS_OFS2_Y>
      <DisplayName>Compass2 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass2's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Y>
    <COMPASS_OFS2_Z>
      <DisplayName>Compass2 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass2's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Z>
    <COMPASS_MOT2_X>
      <DisplayName>Motor interference compensation to compass2 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_X>
    <COMPASS_MOT2_Y>
      <DisplayName>Motor interference compensation to compass2 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Y>
    <COMPASS_MOT2_Z>
      <DisplayName>Motor interference compensation to compass2 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Z>
    <COMPASS_PRIMARY>
      <DisplayName>Choose primary compass</DisplayName>
      <Description>If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored</Description>
      <Values>0:FirstCompass,1:SecondCompass</Values>
      <User>Advanced</User>
    </COMPASS_PRIMARY>
    <COMPASS_OFS3_X>
      <DisplayName>Compass3 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass3's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_X>
    <COMPASS_OFS3_Y>
      <DisplayName>Compass3 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass3's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Y>
    <COMPASS_OFS3_Z>
      <DisplayName>Compass3 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass3's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Z>
    <COMPASS_MOT3_X>
      <DisplayName>Motor interference compensation to compass3 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_X>
    <COMPASS_MOT3_Y>
      <DisplayName>Motor interference compensation to compass3 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Y>
    <COMPASS_MOT3_Z>
      <DisplayName>Motor interference compensation to compass3 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Z>
    <COMPASS_DEV_ID>
      <DisplayName>Compass device id</DisplayName>
      <Description>Compass device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID>
    <COMPASS_DEV_ID2>
      <DisplayName>Compass2 device id</DisplayName>
      <Description>Second compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID2>
    <COMPASS_DEV_ID3>
      <DisplayName>Compass3 device id</DisplayName>
      <Description>Third compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID3>
    <COMPASS_USE2>
      <DisplayName>Compass2 used for yaw</DisplayName>
      <Description>Enable or disable the second compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE2>
    <COMPASS_ORIENT2>
      <DisplayName>Compass2 orientation</DisplayName>
      <Description>The orientation of the second compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT2>
    <COMPASS_EXTERN2>
      <DisplayName>Compass2 is attached via an external cable</DisplayName>
      <Description>Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERN2>
    <COMPASS_USE3>
      <DisplayName>Compass3 used for yaw</DisplayName>
      <Description>Enable or disable the third compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE3>
    <COMPASS_ORIENT3>
      <DisplayName>Compass3 orientation</DisplayName>
      <Description>The orientation of the third compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT3>
    <COMPASS_EXTERN3>
      <DisplayName>Compass3 is attached via an external cable</DisplayName>
      <Description>Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERN3>
    <SCHED_DEBUG>
      <DisplayName>Scheduler debug level</DisplayName>
      <Description>Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.</Description>
      <Values>0:Disabled,2:ShowSlips,3:ShowOverruns</Values>
      <User>Advanced</User>
    </SCHED_DEBUG>
    <GND_ABS_PRESS>
      <DisplayName>Absolute Pressure</DisplayName>
      <Description>calibrated ground pressure in Pascals</Description>
      <Units>pascals</Units>
      <Increment>1</Increment>
    </GND_ABS_PRESS>
    <GND_TEMP>
      <DisplayName>ground temperature</DisplayName>
      <Description>calibrated ground temperature in degrees Celsius</Description>
      <Units>degrees celsius</Units>
      <Increment>1</Increment>
    </GND_TEMP>
    <GND_ALT_OFFSET>
      <DisplayName>altitude offset</DisplayName>
      <Description>altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.</Description>
      <Units>meters</Units>
      <Range>-128 127</Range>
      <Increment>1</Increment>
    </GND_ALT_OFFSET>
    <RELAY_PIN>
      <DisplayName>First Relay Pin</DisplayName>
      <Description>Digital pin number for first relay control. This is the pin used for camera control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN>
    <RELAY_PIN2>
      <DisplayName>Second Relay Pin</DisplayName>
      <Description>Digital pin number for 2nd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN2>
    <RELAY_PIN3>
      <DisplayName>Third Relay Pin</DisplayName>
      <Description>Digital pin number for 3rd relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN3>
    <RELAY_PIN4>
      <DisplayName>Fourth Relay Pin</DisplayName>
      <Description>Digital pin number for 4th relay control.</Description>
      <User>Standard</User>
      <Values>-1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2</Values>
    </RELAY_PIN4>
    <RELAY_DEFAULT>
      <DisplayName>Default relay state</DisplayName>
      <Description>The state of the relay on boot.</Description>
      <User>Standard</User>
      <Values>0:Off,1:On,2:NoChange</Values>
    </RELAY_DEFAULT>
    <RCMAP_ROLL>
      <DisplayName>Roll channel</DisplayName>
      <Description>Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_ROLL>
    <RCMAP_PITCH>
      <DisplayName>Pitch channel</DisplayName>
      <Description>Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_PITCH>
    <RCMAP_THROTTLE>
      <DisplayName>Throttle channel</DisplayName>
      <Description>Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_THROTTLE>
    <RCMAP_YAW>
      <DisplayName>Yaw channel</DisplayName>
      <Description>Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.</Description>
      <Range>1 8</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RCMAP_YAW>
    <NAVL1_PERIOD>
      <DisplayName>L1 control period</DisplayName>
      <Description>Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 30 is very conservative, and for most RC aircraft will lead to slow and lazy turns. For smaller more agile aircraft a value closer to 20 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.</Description>
      <Units>seconds</Units>
      <Range>1-60</Range>
      <Increment>1</Increment>
    </NAVL1_PERIOD>
    <NAVL1_DAMPING>
      <DisplayName>L1 control damping ratio</DisplayName>
      <Description>Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.</Description>
      <Range>0.6-1.0</Range>
      <Increment>0.05</Increment>
    </NAVL1_DAMPING>
    <RNGFND_TYPE>
      <DisplayName>Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C</Values>
    </RNGFND_TYPE>
    <RNGFND_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND_PIN>
    <RNGFND_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND_SCALING>
    <RNGFND_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND_OFFSET>
    <RNGFND_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND_FUNCTION>
    <RNGFND_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MIN_CM>
    <RNGFND_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND_MAX_CM>
    <RNGFND_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND_STOP_PIN>
    <RNGFND_SETTLE>
      <DisplayName>Rangefinder settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND_SETTLE>
    <RNGFND_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND_RMETRIC>
    <RNGFND2_TYPE>
      <DisplayName>Second Rangefinder type</DisplayName>
      <Description>What type of rangefinder device that is connected</Description>
      <Values>0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C</Values>
    </RNGFND2_TYPE>
    <RNGFND2_PIN>
      <DisplayName>Rangefinder pin</DisplayName>
      <Description>Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.</Description>
    </RNGFND2_PIN>
    <RNGFND2_SCALING>
      <DisplayName>Rangefinder scaling</DisplayName>
      <Description>Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.</Description>
      <Units>meters/Volt</Units>
      <Increment>0.001</Increment>
    </RNGFND2_SCALING>
    <RNGFND2_OFFSET>
      <DisplayName>rangefinder offset</DisplayName>
      <Description>Offset in volts for zero distance</Description>
      <Units>Volts</Units>
      <Increment>0.001</Increment>
    </RNGFND2_OFFSET>
    <RNGFND2_FUNCTION>
      <DisplayName>Rangefinder function</DisplayName>
      <Description>Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.</Description>
      <Values>0:Linear,1:Inverted,2:Hyperbolic</Values>
    </RNGFND2_FUNCTION>
    <RNGFND2_MIN_CM>
      <DisplayName>Rangefinder minimum distance</DisplayName>
      <Description>Minimum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MIN_CM>
    <RNGFND2_MAX_CM>
      <DisplayName>Rangefinder maximum distance</DisplayName>
      <Description>Maximum distance in centimeters that rangefinder can reliably read</Description>
      <Units>centimeters</Units>
      <Increment>1</Increment>
    </RNGFND2_MAX_CM>
    <RNGFND2_STOP_PIN>
      <DisplayName>Rangefinder stop pin</DisplayName>
      <Description>Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.</Description>
    </RNGFND2_STOP_PIN>
    <RNGFND2_SETTLE>
      <DisplayName>Sonar settle time</DisplayName>
      <Description>The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.</Description>
      <Units>milliseconds</Units>
      <Increment>1</Increment>
    </RNGFND2_SETTLE>
    <RNGFND2_RMETRIC>
      <DisplayName>Ratiometric</DisplayName>
      <Description>This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.</Description>
      <Values>0:No,1:Yes</Values>
    </RNGFND2_RMETRIC>
    <INS_PRODUCT_ID>
      <DisplayName>IMU Product ID</DisplayName>
      <Description>Which type of IMU is installed (read-only).</Description>
      <User>Advanced</User>
      <Values>0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux</Values>
    </INS_PRODUCT_ID>
    <INS_ACCSCAL_X>
      <DisplayName>Accelerometer scaling of X axis</DisplayName>
      <Description>Accelerometer scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_X>
    <INS_ACCSCAL_Y>
      <DisplayName>Accelerometer scaling of Y axis</DisplayName>
      <Description>Accelerometer scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Y>
    <INS_ACCSCAL_Z>
      <DisplayName>Accelerometer scaling of Z axis</DisplayName>
      <Description>Accelerometer scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Z>
    <INS_ACCOFFS_X>
      <DisplayName>Accelerometer offsets of X axis</DisplayName>
      <Description>Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_X>
    <INS_ACCOFFS_Y>
      <DisplayName>Accelerometer offsets of Y axis</DisplayName>
      <Description>Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Y>
    <INS_ACCOFFS_Z>
      <DisplayName>Accelerometer offsets of Z axis</DisplayName>
      <Description>Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Z>
    <INS_GYROFFS_X>
      <DisplayName>Gyro offsets of X axis</DisplayName>
      <Description>Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_X>
    <INS_GYROFFS_Y>
      <DisplayName>Gyro offsets of Y axis</DisplayName>
      <Description>Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Y>
    <INS_GYROFFS_Z>
      <DisplayName>Gyro offsets of Z axis</DisplayName>
      <Description>Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Z>
    <INS_MPU6K_FILTER>
      <DisplayName>MPU6000 filter frequency</DisplayName>
      <Description>Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation</Description>
      <Units>Hz</Units>
      <Values>0:Default,5:5Hz,10:10Hz,20:20Hz,42:42Hz,98:98Hz</Values>
      <User>Advanced</User>
    </INS_MPU6K_FILTER>
    <INS_ACC2SCAL_X>
      <DisplayName>Accelerometer2 scaling of X axis</DisplayName>
      <Description>Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_X>
    <INS_ACC2SCAL_Y>
      <DisplayName>Accelerometer2 scaling of Y axis</DisplayName>
      <Description>Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Y>
    <INS_ACC2SCAL_Z>
      <DisplayName>Accelerometer2 scaling of Z axis</DisplayName>
      <Description>Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Z>
    <INS_ACC2OFFS_X>
      <DisplayName>Accelerometer2 offsets of X axis</DisplayName>
      <Description>Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_X>
    <INS_ACC2OFFS_Y>
      <DisplayName>Accelerometer2 offsets of Y axis</DisplayName>
      <Description>Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Y>
    <INS_ACC2OFFS_Z>
      <DisplayName>Accelerometer2 offsets of Z axis</DisplayName>
      <Description>Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Z>
    <INS_GYR2OFFS_X>
      <DisplayName>Gyro2 offsets of X axis</DisplayName>
      <Description>Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_X>
    <INS_GYR2OFFS_Y>
      <DisplayName>Gyro2 offsets of Y axis</DisplayName>
      <Description>Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Y>
    <INS_GYR2OFFS_Z>
      <DisplayName>Gyro2 offsets of Z axis</DisplayName>
      <Description>Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Z>
    <INS_ACC3SCAL_X>
      <DisplayName>Accelerometer3 scaling of X axis</DisplayName>
      <Description>Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_X>
    <INS_ACC3SCAL_Y>
      <DisplayName>Accelerometer3 scaling of Y axis</DisplayName>
      <Description>Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Y>
    <INS_ACC3SCAL_Z>
      <DisplayName>Accelerometer3 scaling of Z axis</DisplayName>
      <Description>Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Z>
    <INS_ACC3OFFS_X>
      <DisplayName>Accelerometer3 offsets of X axis</DisplayName>
      <Description>Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_X>
    <INS_ACC3OFFS_Y>
      <DisplayName>Accelerometer3 offsets of Y axis</DisplayName>
      <Description>Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Y>
    <INS_ACC3OFFS_Z>
      <DisplayName>Accelerometer3 offsets of Z axis</DisplayName>
      <Description>Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Z>
    <INS_GYR3OFFS_X>
      <DisplayName>Gyro3 offsets of X axis</DisplayName>
      <Description>Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_X>
    <INS_GYR3OFFS_Y>
      <DisplayName>Gyro3 offsets of Y axis</DisplayName>
      <Description>Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Y>
    <INS_GYR3OFFS_Z>
      <DisplayName>Gyro3 offsets of Z axis</DisplayName>
      <Description>Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Z>
    <AHRS_GPS_GAIN>
      <DisplayName>AHRS GPS gain</DisplayName>
      <Description>This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.</Description>
      <Range>0.0 1.0</Range>
      <Increment>.01</Increment>
    </AHRS_GPS_GAIN>
    <AHRS_GPS_USE>
      <DisplayName>AHRS use GPS for navigation</DisplayName>
      <Description>This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_GPS_USE>
    <AHRS_YAW_P>
      <DisplayName>Yaw P</DisplayName>
      <Description>This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_YAW_P>
    <AHRS_RP_P>
      <DisplayName>AHRS RP_P</DisplayName>
      <Description>This controls how fast the accelerometers correct the attitude</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_RP_P>
    <AHRS_WIND_MAX>
      <DisplayName>Maximum wind</DisplayName>
      <Description>This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.</Description>
      <Range>0 127</Range>
      <Units>m/s</Units>
      <Increment>1</Increment>
    </AHRS_WIND_MAX>
    <AHRS_TRIM_X>
      <DisplayName>AHRS Trim Roll</DisplayName>
      <Description>Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_X>
    <AHRS_TRIM_Y>
      <DisplayName>AHRS Trim Pitch</DisplayName>
      <Description>Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_Y>
    <AHRS_TRIM_Z>
      <DisplayName>AHRS Trim Yaw</DisplayName>
      <Description>Not Used</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </AHRS_TRIM_Z>
    <AHRS_ORIENTATION>
      <DisplayName>Board Orientation</DisplayName>
      <Description>Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
      <User>Advanced</User>
    </AHRS_ORIENTATION>
    <AHRS_COMP_BETA>
      <DisplayName>AHRS Velocity Complmentary Filter Beta Coefficient</DisplayName>
      <Description>This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.</Description>
      <Range>0.001 0.5</Range>
      <Increment>.01</Increment>
      <User>Advanced</User>
    </AHRS_COMP_BETA>
    <AHRS_GPS_MINSATS>
      <DisplayName>AHRS GPS Minimum satellites</DisplayName>
      <Description>Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.</Description>
      <Range>0 10</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </AHRS_GPS_MINSATS>
    <AHRS_EKF_USE>
      <DisplayName>Use NavEKF Kalman filter for attitude and position estimation</DisplayName>
      <Description>This controls whether the NavEKF Kalman filter is used for attitude and position estimation</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_EKF_USE>
    <CAM_TRIGG_TYPE>
      <DisplayName>Camera shutter (trigger) type</DisplayName>
      <Description>how to trigger the camera to take a picture</Description>
      <Values>0:Servo,1:Relay</Values>
      <User>Standard</User>
    </CAM_TRIGG_TYPE>
    <CAM_DURATION>
      <DisplayName>Duration that shutter is held open</DisplayName>
      <Description>How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)</Description>
      <Units>seconds</Units>
      <Range>0 50</Range>
      <User>Standard</User>
    </CAM_DURATION>
    <CAM_SERVO_ON>
      <DisplayName>Servo ON PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is activated</Description>
      <Units>pwm</Units>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_ON>
    <CAM_SERVO_OFF>
      <DisplayName>Servo OFF PWM value</DisplayName>
      <Description>PWM value to move servo to when shutter is deactivated</Description>
      <Units>pwm</Units>
      <Range>1000 2000</Range>
      <User>Standard</User>
    </CAM_SERVO_OFF>
    <CAM_TRIGG_DIST>
      <DisplayName>Camera trigger distance</DisplayName>
      <Description>Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.</Description>
      <User>Standard</User>
      <Units>meters</Units>
      <Range>0 1000</Range>
    </CAM_TRIGG_DIST>
    <MNT_MODE>
      <DisplayName>Mount operation mode</DisplayName>
      <Description>Camera or antenna mount operation mode</Description>
      <Values>0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point</Values>
      <User>Standard</User>
    </MNT_MODE>
    <MNT_RETRACT_X>
      <DisplayName>Mount roll angle when in retracted position</DisplayName>
      <Description>Mount roll angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_X>
    <MNT_RETRACT_Y>
      <DisplayName>Mount tilt/pitch angle when in retracted position</DisplayName>
      <Description>Mount tilt/pitch angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Y>
    <MNT_RETRACT_Z>
      <DisplayName>Mount yaw/pan angle when in retracted position</DisplayName>
      <Description>Mount yaw/pan angle when in retracted position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_RETRACT_Z>
    <MNT_NEUTRAL_X>
      <DisplayName>Mount roll angle when in neutral position</DisplayName>
      <Description>Mount roll angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_X>
    <MNT_NEUTRAL_Y>
      <DisplayName>Mount tilt/pitch angle when in neutral position</DisplayName>
      <Description>Mount tilt/pitch angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Y>
    <MNT_NEUTRAL_Z>
      <DisplayName>Mount pan/yaw angle when in neutral position</DisplayName>
      <Description>Mount pan/yaw angle when in neutral position</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_NEUTRAL_Z>
    <MNT_CONTROL_X>
      <DisplayName>Mount roll angle command from groundstation</DisplayName>
      <Description>Mount roll angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_X>
    <MNT_CONTROL_Y>
      <DisplayName>Mount tilt/pitch angle command from groundstation</DisplayName>
      <Description>Mount tilt/pitch angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Y>
    <MNT_CONTROL_Z>
      <DisplayName>Mount pan/yaw angle command from groundstation</DisplayName>
      <Description>Mount pan/yaw angle when in MavLink or RC control operation mode</Description>
      <Units>Degrees</Units>
      <Range>-180.00 179.99</Range>
      <Increment>1</Increment>
    </MNT_CONTROL_Z>
    <MNT_STAB_ROLL>
      <DisplayName>Stabilize mount's roll angle</DisplayName>
      <Description>enable roll stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_ROLL>
    <MNT_STAB_TILT>
      <DisplayName>Stabilize mount's pitch/tilt angle</DisplayName>
      <Description>enable tilt/pitch stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_TILT>
    <MNT_STAB_PAN>
      <DisplayName>Stabilize mount pan/yaw angle</DisplayName>
      <Description>enable pan/yaw stabilisation relative to Earth</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MNT_STAB_PAN>
    <MNT_RC_IN_ROLL>
      <DisplayName>roll RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control roll movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_ROLL>
    <MNT_ANGMIN_ROL>
      <DisplayName>Minimum roll angle</DisplayName>
      <Description>Minimum physical roll angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_ROL>
    <MNT_ANGMAX_ROL>
      <DisplayName>Maximum roll angle</DisplayName>
      <Description>Maximum physical roll angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_ROL>
    <MNT_RC_IN_TILT>
      <DisplayName>tilt (pitch) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control tilt (pitch) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_TILT>
    <MNT_ANGMIN_TIL>
      <DisplayName>Minimum tilt angle</DisplayName>
      <Description>Minimum physical tilt (pitch) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_TIL>
    <MNT_ANGMAX_TIL>
      <DisplayName>Maximum tilt angle</DisplayName>
      <Description>Maximum physical tilt (pitch) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_TIL>
    <MNT_RC_IN_PAN>
      <DisplayName>pan (yaw) RC input channel</DisplayName>
      <Description>0 for none, any other for the RC channel to be used to control pan (yaw) movements</Description>
      <Values>0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8</Values>
      <User>Standard</User>
    </MNT_RC_IN_PAN>
    <MNT_ANGMIN_PAN>
      <DisplayName>Minimum pan angle</DisplayName>
      <Description>Minimum physical pan (yaw) angular position of mount.</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMIN_PAN>
    <MNT_ANGMAX_PAN>
      <DisplayName>Maximum pan angle</DisplayName>
      <Description>Maximum physical pan (yaw) angular position of the mount</Description>
      <Units>Centi-Degrees</Units>
      <Range>-18000 17999</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_ANGMAX_PAN>
    <MNT_JSTICK_SPD>
      <DisplayName>mount joystick speed</DisplayName>
      <Description>0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.</Description>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </MNT_JSTICK_SPD>
    <MNT_LEAD_RLL>
      <DisplayName>Roll stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT_LEAD_RLL>
    <MNT_LEAD_PTCH>
      <DisplayName>Pitch stabilization lead time</DisplayName>
      <Description>Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.</Description>
      <Units>Seconds</Units>
      <Range>0.0 0.2</Range>
      <Increment>.005</Increment>
      <User>Standard</User>
    </MNT_LEAD_PTCH>
    <BATT_MONITOR>
      <DisplayName>Battery monitoring</DisplayName>
      <Description>Controls enabling monitoring of the battery's voltage and current</Description>
      <Values>0:Disabled,3:Voltage Only,4:Voltage and Current</Values>
      <User>Standard</User>
    </BATT_MONITOR>
    <BATT_VOLT_PIN>
      <DisplayName>Battery Voltage sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.</Description>
      <Values>-1:Disabled, 0:A0, 1:A1, 2:Pixhawk, 13:A13, 100:PX4</Values>
      <User>Standard</User>
    </BATT_VOLT_PIN>
    <BATT_CURR_PIN>
      <DisplayName>Battery Current sensing pin</DisplayName>
      <Description>Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.</Description>
      <Values>-1:Disabled, 1:A1, 2:A2, 3:Pixhawk, 12:A12, 101:PX4</Values>
      <User>Standard</User>
    </BATT_CURR_PIN>
    <BATT_VOLT_MULT>
      <DisplayName>Voltage Multiplier</DisplayName>
      <Description>Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.</Description>
      <User>Advanced</User>
    </BATT_VOLT_MULT>
    <BATT_AMP_PERVOLT>
      <DisplayName>Amps per volt</DisplayName>
      <Description>Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.</Description>
      <Units>Amps/Volt</Units>
      <User>Standard</User>
    </BATT_AMP_PERVOLT>
    <BATT_AMP_OFFSET>
      <DisplayName>AMP offset</DisplayName>
      <Description>Voltage offset at zero current on current sensor</Description>
      <Units>Volts</Units>
      <User>Standard</User>
    </BATT_AMP_OFFSET>
    <BATT_CAPACITY>
      <DisplayName>Battery capacity</DisplayName>
      <Description>Capacity of the battery in mAh when full</Description>
      <Units>mAh</Units>
      <Increment>50</Increment>
      <User>Standard</User>
    </BATT_CAPACITY>
    <BATT_VOLT2_PIN>
      <DisplayName>2nd Battery Voltage sensing pin</DisplayName>
      <Description>This sets the pin for sensing the voltage on a 2nd battery. Set to -1 to disable sensing of a second battery</Description>
      <User>Standard</User>
    </BATT_VOLT2_PIN>
    <BATT_VOLT2_MULT>
      <DisplayName>2nd battery voltage multiplier</DisplayName>
      <Description>Used to convert the voltage of the VOLT2_PIN to the actual battery's voltage (pin_voltage * VOLT_MULT).</Description>
      <User>Advanced</User>
    </BATT_VOLT2_MULT>
    <BRD_PWM_COUNT>
      <DisplayName>PWM Count</DisplayName>
      <Description>Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.</Description>
      <Values>0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs</Values>
    </BRD_PWM_COUNT>
    <BRD_SER1_RTSCTS>
      <DisplayName>Serial 1 flow control</DisplayName>
      <Description>Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER1_RTSCTS>
    <BRD_SER2_RTSCTS>
      <DisplayName>Serial 2 flow control</DisplayName>
      <Description>Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER2_RTSCTS>
    <BRD_SAFETYENABLE>
      <DisplayName>Enable use of safety arming switch</DisplayName>
      <Description>Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.</Description>
      <Values>0:Disabled,1:Enabled</Values>
    </BRD_SAFETYENABLE>
    <GPS_TYPE>
      <DisplayName>GPS type</DisplayName>
      <Description>GPS type</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:PX4EXPERIMENTAL</Values>
    </GPS_TYPE>
    <GPS_TYPE2>
      <DisplayName>2nd GPS type</DisplayName>
      <Description>GPS type of 2nd GPS</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:PX4EXPERIMENTAL</Values>
    </GPS_TYPE2>
    <GPS_NAVFILTER>
      <DisplayName>Navigation filter setting</DisplayName>
      <Description>Navigation filter engine setting</Description>
      <Values>0:Portable,2:Stationary,3:Pedestrian,4:Automotive,5:Sea,6:Airborne1G,7:Airborne2G,8:Airborne4G</Values>
    </GPS_NAVFILTER>
    <GPS_AUTO_SWITCH>
      <DisplayName>Automatic Switchover Setting</DisplayName>
      <Description>Automatic switchover to GPS reporting best lock</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </GPS_AUTO_SWITCH>
    <GPS_DGPS_MIN_LOCK>
      <DisplayName>Minimum Lock Type Accepted for DGPS</DisplayName>
      <Description>Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.</Description>
      <Values>0:Any,50:FloatRTK,100:IntegerRTK</Values>
      <User>Advanced</User>
    </GPS_DGPS_MIN_LOCK>
    <GPS_SBAS_MODE>
      <DisplayName>SBAS Mode</DisplayName>
      <Description>This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.</Description>
      <Values>0:Disabled,1:Enabled,2:NoChange</Values>
      <User>Advanced</User>
    </GPS_SBAS_MODE>
    <GPS_MIN_ELEV>
      <DisplayName>Minimum elevation</DisplayName>
      <Description>This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.</Description>
      <Range>-100 90</Range>
      <Units>Degrees</Units>
      <User>Advanced</User>
    </GPS_MIN_ELEV>
    <EKF_VELNE_NOISE>
      <DisplayName>GPS horizontal velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the North and East GPS velocity measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.05 5.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </EKF_VELNE_NOISE>
    <EKF_VELD_NOISE>
      <DisplayName>GPS vertical velocity measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in the vertical GPS velocity measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.05 5.0</Range>
      <Increment>0.05</Increment>
      <User>Advanced</User>
    </EKF_VELD_NOISE>
    <EKF_POSNE_NOISE>
      <DisplayName>GPS horizontal position measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_POSNE_NOISE>
    <EKF_ALT_NOISE>
      <DisplayName>Altitude measurement noise (m)</DisplayName>
      <Description>This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement.</Description>
      <Range>0.1 10.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_ALT_NOISE>
    <EKF_MAG_NOISE>
      <DisplayName>Magnetometer measurement noise (Gauss)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.01 0.5</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </EKF_MAG_NOISE>
    <EKF_EAS_NOISE>
      <DisplayName>Equivalent airspeed measurement noise (m/s)</DisplayName>
      <Description>This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.5 5.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_EAS_NOISE>
    <EKF_WIND_PNOISE>
      <DisplayName>Wind velocity process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.</Description>
      <Range>0.01 1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_WIND_PNOISE>
    <EKF_WIND_PSCALE>
      <DisplayName>Height rate to wind procss noise scaler</DisplayName>
      <Description>Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser.</Description>
      <Range>0.0 1.0</Range>
      <Increment>0.1</Increment>
      <User>Advanced</User>
    </EKF_WIND_PSCALE>
    <EKF_GYRO_PNOISE>
      <DisplayName>Rate gyro noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.</Description>
      <Range>0.001 0.05</Range>
      <Increment>0.001</Increment>
      <User>Advanced</User>
    </EKF_GYRO_PNOISE>
    <EKF_ACC_PNOISE>
      <DisplayName>Accelerometer noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.</Description>
      <Range>0.05 1.0</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </EKF_ACC_PNOISE>
    <EKF_GBIAS_PNOISE>
      <DisplayName>Rate gyro bias process noise (rad/s)</DisplayName>
      <Description>This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.</Description>
      <Range>0.0000001 0.00001</Range>
      <User>Advanced</User>
    </EKF_GBIAS_PNOISE>
    <EKF_ABIAS_PNOISE>
      <DisplayName>Accelerometer bias process noise (m/s^2)</DisplayName>
      <Description>This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.</Description>
      <Range>0.00001 0.001</Range>
      <User>Advanced</User>
    </EKF_ABIAS_PNOISE>
    <EKF_MAGE_PNOISE>
      <DisplayName>Earth magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier.</Description>
      <Range>0.0001 0.01</Range>
      <User>Advanced</User>
    </EKF_MAGE_PNOISE>
    <EKF_MAGB_PNOISE>
      <DisplayName>Body magnetic field process noise (gauss/s)</DisplayName>
      <Description>This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier.</Description>
      <Range>0.0001 0.01</Range>
      <User>Advanced</User>
    </EKF_MAGB_PNOISE>
    <EKF_VEL_DELAY>
      <DisplayName>GPS velocity measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS velocity measurements lag behind the inertial measurements.</Description>
      <Range>0 500</Range>
      <Increment>10</Increment>
      <User>Advanced</User>
    </EKF_VEL_DELAY>
    <EKF_POS_DELAY>
      <DisplayName>GPS position measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the GPS position measurements lag behind the inertial measurements.</Description>
      <Range>0 500</Range>
      <Increment>10</Increment>
      <User>Advanced</User>
    </EKF_POS_DELAY>
    <EKF_GPS_TYPE>
      <DisplayName>GPS velocity mode control</DisplayName>
      <Description>This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity, 3 = use no GPS</Description>
      <Range>0 3</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_GPS_TYPE>
    <EKF_VEL_GATE>
      <DisplayName>GPS velocity measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_VEL_GATE>
    <EKF_POS_GATE>
      <DisplayName>GPS position measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_POS_GATE>
    <EKF_HGT_GATE>
      <DisplayName>Height measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_HGT_GATE>
    <EKF_MAG_GATE>
      <DisplayName>Magnetometer measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_MAG_GATE>
    <EKF_EAS_GATE>
      <DisplayName>Airspeed measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_EAS_GATE>
    <EKF_MAG_CAL>
      <DisplayName>Magnetometer calibration mode</DisplayName>
      <Description>EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.</Description>
      <Values>0:Speed and Height,1:Acceleration,2:Never</Values>
      <Increment>1</Increment>
      <User>Advanced</User>
    </EKF_MAG_CAL>
    <EKF_GLITCH_ACCEL>
      <DisplayName>GPS glitch accel gate size (cm/s^2)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position.</Description>
      <Range>100 500</Range>
      <Increment>50</Increment>
      <User>Advanced</User>
    </EKF_GLITCH_ACCEL>
    <EKF_GLITCH_RAD>
      <DisplayName>GPS glitch radius gate size (m)</DisplayName>
      <Description>This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement.</Description>
      <Range>10 50</Range>
      <Increment>5</Increment>
      <User>Advanced</User>
    </EKF_GLITCH_RAD>
    <EKF_GND_GRADIENT>
      <DisplayName>Terrain Gradient % RMS</DisplayName>
      <Description>This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values casue the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain.</Description>
      <Range>1 - 50</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_GND_GRADIENT>
    <EKF_FLOW_NOISE>
      <DisplayName>Optical flow measurement noise (rad/s)</DisplayName>
      <Description>This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.</Description>
      <Range>0.05 - 1.0</Range>
      <Increment>0.05</Increment>
      <User>advanced</User>
    </EKF_FLOW_NOISE>
    <EKF_FLOW_GATE>
      <DisplayName>Optical Flow measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_FLOW_GATE>
    <EKF_FLOW_DELAY>
      <DisplayName>Optical Flow measurement delay (msec)</DisplayName>
      <Description>This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.</Description>
      <Range>0 - 500</Range>
      <Increment>10</Increment>
      <User>advanced</User>
    </EKF_FLOW_DELAY>
    <EKF_RNG_GATE>
      <DisplayName>Range finder measurement gate size</DisplayName>
      <Description>This parameter sets the number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.</Description>
      <Range>1 - 100</Range>
      <Increment>1</Increment>
      <User>advanced</User>
    </EKF_RNG_GATE>
    <EKF_MAX_FLOW>
      <DisplayName>Maximum valid optical flow rate</DisplayName>
      <Description>This parameter sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter</Description>
      <Range>1.0 - 4.0</Range>
      <Increment>0.1</Increment>
      <User>advanced</User>
    </EKF_MAX_FLOW>
    <EKF_FALLBACK>
      <DisplayName>Fallback strictness</DisplayName>
      <Description>This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more.</Description>
      <Values>0:Trust EKF more, 1:Trust DCM more</Values>
      <User>Advanced</User>
    </EKF_FALLBACK>
    <MIS_TOTAL>
      <DisplayName>Total mission commands</DisplayName>
      <Description>The number of mission mission items that has been loaded by the ground station. Do not change this manually.</Description>
      <Range>0 32766</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </MIS_TOTAL>
    <MIS_RESTART>
      <DisplayName>Mission Restart when entering Auto mode</DisplayName>
      <Description>Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)</Description>
      <Values>0:Resume Mission, 1:Restart Mission</Values>
    </MIS_RESTART>
    <LOG_BITMASK>
      <DisplayName>Log bitmask</DisplayName>
      <Description>Two byte bitmap of log types to enable in dataflash</Description>
      <Values>0:Disabled,3950:Default,4078:Default+IMU</Values>
      <User>Advanced</User>
    </LOG_BITMASK>
    <RST_SWITCH_CH>
      <DisplayName>Reset Switch Channel</DisplayName>
      <Description>RC channel to use to reset to last flight mode	after geofence takeover.</Description>
      <User>Advanced</User>
    </RST_SWITCH_CH>
    <INITIAL_MODE>
      <DisplayName>Initial driving mode</DisplayName>
      <Description>This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usuallly used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.</Description>
      <Values>0:MANUAL,2:LEARNING,3:STEERING,4:HOLD,10:AUTO,11:RTL,15:GUIDED</Values>
      <User>Advanced</User>
    </INITIAL_MODE>
    <RSSI_PIN>
      <DisplayName>Receiver RSSI sensing pin</DisplayName>
      <Description>This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum</Description>
      <Values>-1:Disabled, 0:APM2 A0, 1:APM2 A1, 2:APM2 A2, 13:APM2 A13, 103:Pixhawk SBUS</Values>
      <User>Standard</User>
    </RSSI_PIN>
    <SYSID_THIS_MAV>
      <DisplayName>MAVLink system ID</DisplayName>
      <Description>ID used in MAVLink protocol to identify this vehicle</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_THIS_MAV>
    <SYSID_MYGCS>
      <DisplayName>MAVLink ground station ID</DisplayName>
      <Description>ID used in MAVLink protocol to identify the controlling ground station</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_MYGCS>
    <SERIAL0_BAUD>
      <DisplayName>USB Console Baud Rate</DisplayName>
      <Description>The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL0_BAUD>
    <SERIAL1_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the first telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL1_BAUD>
    <SERIAL2_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the second telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000</Values>
      <User>Standard</User>
    </SERIAL2_BAUD>
    <SERIAL2_PROTOCOL>
      <DisplayName>SERIAL2 protocol selection</DisplayName>
      <Description>Control what protocol telemetry 2 port should be used for</Description>
      <Values>1:GCS Mavlink,2:Frsky D-PORT</Values>
      <User>Standard</User>
    </SERIAL2_PROTOCOL>
    <TELEM_DELAY>
      <DisplayName>Telemetry startup delay</DisplayName>
      <Description>The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up</Description>
      <User>Standard</User>
      <Units>seconds</Units>
      <Range>0 10</Range>
      <Increment>1</Increment>
    </TELEM_DELAY>
    <SKIP_GYRO_CAL>
      <DisplayName>Skip gyro calibration</DisplayName>
      <Description>When enabled this tells the APM to skip the normal gyroscope calibration at startup, and instead use the saved gyro calibration from the last flight. You should only enable this if you are careful to check that your aircraft has good attitude control before flying, as some boards may have significantly different gyro calibration between boots, especially if the temperature changes a lot. If gyro calibration is skipped then APM relies on using the gyro drift detection code to get the right gyro calibration in the few minutes after it boots. This option is mostly useful where the requirement to hold the vehicle still while it is booting is a significant problem.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </SKIP_GYRO_CAL>
    <MAG_ENABLED>
      <DisplayName>Magnetometer (compass) enabled</DisplayName>
      <Description>This should be set to 1 if a compass is installed</Description>
      <User>Standard</User>
      <Values>0:Disabled,1:Enabled</Values>
    </MAG_ENABLED>
    <AUTO_TRIGGER_PIN>
      <DisplayName>Auto mode trigger pin</DisplayName>
      <Description>pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver.</Description>
      <Values>-1:Disabled,0-8:TiggerPin</Values>
      <User>standard</User>
    </AUTO_TRIGGER_PIN>
    <AUTO_KICKSTART>
      <DisplayName>Auto mode trigger kickstart acceleration</DisplayName>
      <Description>X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor</Description>
      <Units>m/s/s</Units>
      <Range>0 20</Range>
      <Increment>0.1</Increment>
      <User>standard</User>
    </AUTO_KICKSTART>
    <CRUISE_SPEED>
      <DisplayName>Target cruise speed in auto modes</DisplayName>
      <Description>The target speed in auto missions.</Description>
      <Units>m/s</Units>
      <Range>0 100</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </CRUISE_SPEED>
    <SPEED_TURN_GAIN>
      <DisplayName>Target speed reduction while turning</DisplayName>
      <Description>The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected.</Description>
      <Units>percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </SPEED_TURN_GAIN>
    <SPEED_TURN_DIST>
      <DisplayName>Distance to turn to start reducing speed</DisplayName>
      <Description>The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN</Description>
      <Units>meters</Units>
      <Range>0 100</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </SPEED_TURN_DIST>
    <BRAKING_PERCENT>
      <DisplayName>Percentage braking to apply</DisplayName>
      <Description>The maximum reverse throttle braking percentage to apply when cornering</Description>
      <Units>percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </BRAKING_PERCENT>
    <BRAKING_SPEEDERR>
      <DisplayName>Speed error at which to apply braking</DisplayName>
      <Description>The amount of overspeed error at which to start applying braking</Description>
      <Units>m/s</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </BRAKING_SPEEDERR>
    <PIVOT_TURN_ANGLE>
      <DisplayName>Pivot turn angle</DisplayName>
      <Description>Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns.</Description>
      <Units>degrees</Units>
      <Range>0 360</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </PIVOT_TURN_ANGLE>
    <CH7_OPTION>
      <DisplayName>Channel 7 option</DisplayName>
      <Description>What to do use channel 7 for</Description>
      <Values>0:Nothing,1:LearnWaypoint</Values>
      <User>Standard</User>
      <Group>RC1_</Group>
      <Path>../libraries/RC_Channel/RC_Channel.cpp</Path>
    </CH7_OPTION>
    <THR_MIN>
      <DisplayName>Minimum Throttle</DisplayName>
      <Description>The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MIN>
    <THR_MAX>
      <DisplayName>Maximum Throttle</DisplayName>
      <Description>The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_MAX>
    <CRUISE_THROTTLE>
      <DisplayName>Base throttle percentage in auto</DisplayName>
      <Description>The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </CRUISE_THROTTLE>
    <THR_SLEWRATE>
      <DisplayName>Throttle slew rate</DisplayName>
      <Description>maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout.</Description>
      <Units>Percent</Units>
      <Range>0 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </THR_SLEWRATE>
    <SKID_STEER_OUT>
      <DisplayName>Skid steering output</DisplayName>
      <Description>Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control</Description>
      <Values>0:Disabled, 1:SkidSteeringOutput</Values>
      <User>Standard</User>
    </SKID_STEER_OUT>
    <SKID_STEER_IN>
      <DisplayName>Skid steering input</DisplayName>
      <Description>Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control</Description>
      <Values>0:Disabled, 1:SkidSteeringInput</Values>
      <User>Standard</User>
    </SKID_STEER_IN>
    <FS_ACTION>
      <DisplayName>Failsafe Action</DisplayName>
      <Description>What to do on a failsafe event</Description>
      <Values>0:Nothing,1:RTL,2:HOLD</Values>
      <User>Standard</User>
    </FS_ACTION>
    <FS_TIMEOUT>
      <DisplayName>Failsafe timeout</DisplayName>
      <Description>How long a failsafe event need to happen for before we trigger the failsafe action</Description>
      <Units>seconds</Units>
      <User>Standard</User>
    </FS_TIMEOUT>
    <FS_THR_ENABLE>
      <DisplayName>Throttle Failsafe Enable</DisplayName>
      <Description>The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </FS_THR_ENABLE>
    <FS_THR_VALUE>
      <DisplayName>Throttle Failsafe Value</DisplayName>
      <Description>The PWM level on channel 3 below which throttle sailsafe triggers.</Description>
      <Range>925 1100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </FS_THR_VALUE>
    <FS_GCS_ENABLE>
      <DisplayName>GCS failsafe enable</DisplayName>
      <Description>Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </FS_GCS_ENABLE>
    <RNGFND_TRIGGR_CM>
      <DisplayName>Rangefinder trigger distance</DisplayName>
      <Description>The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle</Description>
      <Units>centimeters</Units>
      <Range>0 1000</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RNGFND_TRIGGR_CM>
    <RNGFND_TURN_ANGL>
      <DisplayName>Rangefinder trigger angle</DisplayName>
      <Description>The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left.</Description>
      <Units>centimeters</Units>
      <Range>-45 45</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RNGFND_TURN_ANGL>
    <RNGFND_TURN_TIME>
      <DisplayName>Rangefinder turn time</DisplayName>
      <Description>The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle.</Description>
      <Units>seconds</Units>
      <Range>0 100</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </RNGFND_TURN_TIME>
    <RNGFND_DEBOUNCE>
      <DisplayName>Rangefinder debounce count</DisplayName>
      <Description>The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle.</Description>
      <Range>1 100</Range>
      <Increment>1</Increment>
      <User>Standard</User>
    </RNGFND_DEBOUNCE>
    <LEARN_CH>
      <DisplayName>Learning channel</DisplayName>
      <Description>RC Channel to use for learning waypoints</Description>
      <User>Advanced</User>
    </LEARN_CH>
    <MODE_CH>
      <DisplayName>Mode channel</DisplayName>
      <Description>RC Channel to use for driving mode control</Description>
      <User>Advanced</User>
    </MODE_CH>
    <MODE1>
      <DisplayName>Mode1</DisplayName>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
      <Description>Driving mode for switch position 1 (910 to 1230 and above 2049)</Description>
    </MODE1>
    <MODE2>
      <DisplayName>Mode2</DisplayName>
      <Description>Driving mode for switch position 2 (1231 to 1360)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE2>
    <MODE3>
      <DisplayName>Mode3</DisplayName>
      <Description>Driving mode for switch position 3 (1361 to 1490)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE3>
    <MODE4>
      <DisplayName>Mode4</DisplayName>
      <Description>Driving mode for switch position 4 (1491 to 1620)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE4>
    <MODE5>
      <DisplayName>Mode5</DisplayName>
      <Description>Driving mode for switch position 5 (1621 to 1749)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE5>
    <MODE6>
      <DisplayName>Mode6</DisplayName>
      <Description>Driving mode for switch position 6 (1750 to 2049)</Description>
      <Values>0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided</Values>
      <User>Standard</User>
    </MODE6>
    <WP_RADIUS>
      <DisplayName>Waypoint radius</DisplayName>
      <Description>The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path.</Description>
      <Units>meters</Units>
      <Range>0 1000</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
    </WP_RADIUS>
    <TURN_MAX_G>
      <DisplayName>Turning maximum G force</DisplayName>
      <Description>The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns</Description>
      <Units>gravities</Units>
      <Range>0.2 10</Range>
      <Increment>0.1</Increment>
      <User>Standard</User>
      <Group>STEER2SRV_</Group>
      <Path>../libraries/APM_Control/AP_SteerController.cpp</Path>
    </TURN_MAX_G>
  </ArduRover>
  <ArduTracker>
    <GND_ABS_PRESS>
      <DisplayName>Absolute Pressure</DisplayName>
      <Description>calibrated ground pressure in Pascals</Description>
      <Units>pascals</Units>
      <Increment>1</Increment>
    </GND_ABS_PRESS>
    <GND_TEMP>
      <DisplayName>ground temperature</DisplayName>
      <Description>calibrated ground temperature in degrees Celsius</Description>
      <Units>degrees celsius</Units>
      <Increment>1</Increment>
    </GND_TEMP>
    <GND_ALT_OFFSET>
      <DisplayName>altitude offset</DisplayName>
      <Description>altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.</Description>
      <Units>meters</Units>
      <Range>-128 127</Range>
      <Increment>1</Increment>
    </GND_ALT_OFFSET>
    <COMPASS_OFS_X>
      <DisplayName>Compass offsets on the X axis</DisplayName>
      <Description>Offset to be added to the compass x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_X>
    <COMPASS_OFS_Y>
      <DisplayName>Compass offsets on the Y axis</DisplayName>
      <Description>Offset to be added to the compass y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Y>
    <COMPASS_OFS_Z>
      <DisplayName>Compass offsets on the Z axis</DisplayName>
      <Description>Offset to be added to the compass z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS_Z>
    <COMPASS_DEC>
      <DisplayName>Compass declination</DisplayName>
      <Description>An angle to compensate between the true north and magnetic north</Description>
      <Range>-3.142 3.142</Range>
      <Units>Radians</Units>
      <Increment>0.01</Increment>
      <User>Standard</User>
    </COMPASS_DEC>
    <COMPASS_LEARN>
      <DisplayName>Learn compass offsets automatically</DisplayName>
      <Description>Enable or disable the automatic learning of compass offsets</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_LEARN>
    <COMPASS_USE>
      <DisplayName>Use compass for yaw</DisplayName>
      <Description>Enable or disable the use of the compass (instead of the GPS) for determining heading</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE>
    <COMPASS_AUTODEC>
      <DisplayName>Auto Declination</DisplayName>
      <Description>Enable or disable the automatic calculation of the declination based on gps location</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_AUTODEC>
    <COMPASS_MOTCT>
      <DisplayName>Motor interference compensation type</DisplayName>
      <Description>Set motor interference compensation type to disabled, throttle or current.  Do not change manually.</Description>
      <Values>0:Disabled,1:Use Throttle,2:Use Current</Values>
      <Increment>1</Increment>
    </COMPASS_MOTCT>
    <COMPASS_MOT_X>
      <DisplayName>Motor interference compensation for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_X>
    <COMPASS_MOT_Y>
      <DisplayName>Motor interference compensation for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Y>
    <COMPASS_MOT_Z>
      <DisplayName>Motor interference compensation for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT_Z>
    <COMPASS_ORIENT>
      <DisplayName>Compass orientation</DisplayName>
      <Description>The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT>
    <COMPASS_EXTERNAL>
      <DisplayName>Compass is attached via an external cable</DisplayName>
      <Description>Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERNAL>
    <COMPASS_OFS2_X>
      <DisplayName>Compass2 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass2's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_X>
    <COMPASS_OFS2_Y>
      <DisplayName>Compass2 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass2's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Y>
    <COMPASS_OFS2_Z>
      <DisplayName>Compass2 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass2's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS2_Z>
    <COMPASS_MOT2_X>
      <DisplayName>Motor interference compensation to compass2 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_X>
    <COMPASS_MOT2_Y>
      <DisplayName>Motor interference compensation to compass2 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Y>
    <COMPASS_MOT2_Z>
      <DisplayName>Motor interference compensation to compass2 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT2_Z>
    <COMPASS_PRIMARY>
      <DisplayName>Choose primary compass</DisplayName>
      <Description>If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored</Description>
      <Values>0:FirstCompass,1:SecondCompass</Values>
      <User>Advanced</User>
    </COMPASS_PRIMARY>
    <COMPASS_OFS3_X>
      <DisplayName>Compass3 offsets on the X axis</DisplayName>
      <Description>Offset to be added to compass3's x-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_X>
    <COMPASS_OFS3_Y>
      <DisplayName>Compass3 offsets on the Y axis</DisplayName>
      <Description>Offset to be added to compass3's y-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Y>
    <COMPASS_OFS3_Z>
      <DisplayName>Compass3 offsets on the Z axis</DisplayName>
      <Description>Offset to be added to compass3's z-axis values to compensate for metal in the frame</Description>
      <Range>-400 400</Range>
      <Increment>1</Increment>
    </COMPASS_OFS3_Z>
    <COMPASS_MOT3_X>
      <DisplayName>Motor interference compensation to compass3 for body frame X axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_X>
    <COMPASS_MOT3_Y>
      <DisplayName>Motor interference compensation to compass3 for body frame Y axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Y>
    <COMPASS_MOT3_Z>
      <DisplayName>Motor interference compensation to compass3 for body frame Z axis</DisplayName>
      <Description>Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference</Description>
      <Range>-1000 1000</Range>
      <Units>Offset per Amp or at Full Throttle</Units>
      <Increment>1</Increment>
    </COMPASS_MOT3_Z>
    <COMPASS_DEV_ID>
      <DisplayName>Compass device id</DisplayName>
      <Description>Compass device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID>
    <COMPASS_DEV_ID2>
      <DisplayName>Compass2 device id</DisplayName>
      <Description>Second compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID2>
    <COMPASS_DEV_ID3>
      <DisplayName>Compass3 device id</DisplayName>
      <Description>Third compass's device id.  Automatically detected, do not set manually</Description>
      <User>Advanced</User>
    </COMPASS_DEV_ID3>
    <COMPASS_USE2>
      <DisplayName>Compass2 used for yaw</DisplayName>
      <Description>Enable or disable the second compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE2>
    <COMPASS_ORIENT2>
      <DisplayName>Compass2 orientation</DisplayName>
      <Description>The orientation of the second compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT2>
    <COMPASS_EXTERN2>
      <DisplayName>Compass2 is attached via an external cable</DisplayName>
      <Description>Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERN2>
    <COMPASS_USE3>
      <DisplayName>Compass3 used for yaw</DisplayName>
      <Description>Enable or disable the third compass for determining heading.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </COMPASS_USE3>
    <COMPASS_ORIENT3>
      <DisplayName>Compass3 orientation</DisplayName>
      <Description>The orientation of the third compass relative to the frame (if external) or autopilot board (if internal).</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180</Values>
    </COMPASS_ORIENT3>
    <COMPASS_EXTERN3>
      <DisplayName>Compass3 is attached via an external cable</DisplayName>
      <Description>Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk.</Description>
      <Values>0:Internal,1:External</Values>
      <User>Advanced</User>
    </COMPASS_EXTERN3>
    <SCHED_DEBUG>
      <DisplayName>Scheduler debug level</DisplayName>
      <Description>Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.</Description>
      <Values>0:Disabled,2:ShowSlips,3:ShowOverruns</Values>
      <User>Advanced</User>
    </SCHED_DEBUG>
    <INS_PRODUCT_ID>
      <DisplayName>IMU Product ID</DisplayName>
      <Description>Which type of IMU is installed (read-only).</Description>
      <User>Advanced</User>
      <Values>0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux</Values>
    </INS_PRODUCT_ID>
    <INS_ACCSCAL_X>
      <DisplayName>Accelerometer scaling of X axis</DisplayName>
      <Description>Accelerometer scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_X>
    <INS_ACCSCAL_Y>
      <DisplayName>Accelerometer scaling of Y axis</DisplayName>
      <Description>Accelerometer scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Y>
    <INS_ACCSCAL_Z>
      <DisplayName>Accelerometer scaling of Z axis</DisplayName>
      <Description>Accelerometer scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACCSCAL_Z>
    <INS_ACCOFFS_X>
      <DisplayName>Accelerometer offsets of X axis</DisplayName>
      <Description>Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_X>
    <INS_ACCOFFS_Y>
      <DisplayName>Accelerometer offsets of Y axis</DisplayName>
      <Description>Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Y>
    <INS_ACCOFFS_Z>
      <DisplayName>Accelerometer offsets of Z axis</DisplayName>
      <Description>Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACCOFFS_Z>
    <INS_GYROFFS_X>
      <DisplayName>Gyro offsets of X axis</DisplayName>
      <Description>Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_X>
    <INS_GYROFFS_Y>
      <DisplayName>Gyro offsets of Y axis</DisplayName>
      <Description>Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Y>
    <INS_GYROFFS_Z>
      <DisplayName>Gyro offsets of Z axis</DisplayName>
      <Description>Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYROFFS_Z>
    <INS_MPU6K_FILTER>
      <DisplayName>MPU6000 filter frequency</DisplayName>
      <Description>Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation</Description>
      <Units>Hz</Units>
      <Values>0:Default,5:5Hz,10:10Hz,20:20Hz,42:42Hz,98:98Hz</Values>
      <User>Advanced</User>
    </INS_MPU6K_FILTER>
    <INS_ACC2SCAL_X>
      <DisplayName>Accelerometer2 scaling of X axis</DisplayName>
      <Description>Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_X>
    <INS_ACC2SCAL_Y>
      <DisplayName>Accelerometer2 scaling of Y axis</DisplayName>
      <Description>Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Y>
    <INS_ACC2SCAL_Z>
      <DisplayName>Accelerometer2 scaling of Z axis</DisplayName>
      <Description>Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC2SCAL_Z>
    <INS_ACC2OFFS_X>
      <DisplayName>Accelerometer2 offsets of X axis</DisplayName>
      <Description>Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_X>
    <INS_ACC2OFFS_Y>
      <DisplayName>Accelerometer2 offsets of Y axis</DisplayName>
      <Description>Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Y>
    <INS_ACC2OFFS_Z>
      <DisplayName>Accelerometer2 offsets of Z axis</DisplayName>
      <Description>Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC2OFFS_Z>
    <INS_GYR2OFFS_X>
      <DisplayName>Gyro2 offsets of X axis</DisplayName>
      <Description>Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_X>
    <INS_GYR2OFFS_Y>
      <DisplayName>Gyro2 offsets of Y axis</DisplayName>
      <Description>Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Y>
    <INS_GYR2OFFS_Z>
      <DisplayName>Gyro2 offsets of Z axis</DisplayName>
      <Description>Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR2OFFS_Z>
    <INS_ACC3SCAL_X>
      <DisplayName>Accelerometer3 scaling of X axis</DisplayName>
      <Description>Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_X>
    <INS_ACC3SCAL_Y>
      <DisplayName>Accelerometer3 scaling of Y axis</DisplayName>
      <Description>Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Y>
    <INS_ACC3SCAL_Z>
      <DisplayName>Accelerometer3 scaling of Z axis</DisplayName>
      <Description>Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine</Description>
      <Range>0.8 1.2</Range>
      <User>Advanced</User>
    </INS_ACC3SCAL_Z>
    <INS_ACC3OFFS_X>
      <DisplayName>Accelerometer3 offsets of X axis</DisplayName>
      <Description>Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_X>
    <INS_ACC3OFFS_Y>
      <DisplayName>Accelerometer3 offsets of Y axis</DisplayName>
      <Description>Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Y>
    <INS_ACC3OFFS_Z>
      <DisplayName>Accelerometer3 offsets of Z axis</DisplayName>
      <Description>Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations</Description>
      <Units>m/s/s</Units>
      <Range>-300 300</Range>
      <User>Advanced</User>
    </INS_ACC3OFFS_Z>
    <INS_GYR3OFFS_X>
      <DisplayName>Gyro3 offsets of X axis</DisplayName>
      <Description>Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_X>
    <INS_GYR3OFFS_Y>
      <DisplayName>Gyro3 offsets of Y axis</DisplayName>
      <Description>Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Y>
    <INS_GYR3OFFS_Z>
      <DisplayName>Gyro3 offsets of Z axis</DisplayName>
      <Description>Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations</Description>
      <Units>rad/s</Units>
      <User>Advanced</User>
    </INS_GYR3OFFS_Z>
    <AHRS_GPS_GAIN>
      <DisplayName>AHRS GPS gain</DisplayName>
      <Description>This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.</Description>
      <Range>0.0 1.0</Range>
      <Increment>.01</Increment>
    </AHRS_GPS_GAIN>
    <AHRS_GPS_USE>
      <DisplayName>AHRS use GPS for navigation</DisplayName>
      <Description>This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_GPS_USE>
    <AHRS_YAW_P>
      <DisplayName>Yaw P</DisplayName>
      <Description>This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_YAW_P>
    <AHRS_RP_P>
      <DisplayName>AHRS RP_P</DisplayName>
      <Description>This controls how fast the accelerometers correct the attitude</Description>
      <Range>0.1 0.4</Range>
      <Increment>.01</Increment>
    </AHRS_RP_P>
    <AHRS_WIND_MAX>
      <DisplayName>Maximum wind</DisplayName>
      <Description>This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.</Description>
      <Range>0 127</Range>
      <Units>m/s</Units>
      <Increment>1</Increment>
    </AHRS_WIND_MAX>
    <AHRS_TRIM_X>
      <DisplayName>AHRS Trim Roll</DisplayName>
      <Description>Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_X>
    <AHRS_TRIM_Y>
      <DisplayName>AHRS Trim Pitch</DisplayName>
      <Description>Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>User</User>
    </AHRS_TRIM_Y>
    <AHRS_TRIM_Z>
      <DisplayName>AHRS Trim Yaw</DisplayName>
      <Description>Not Used</Description>
      <Units>Radians</Units>
      <Range>-0.1745 +0.1745</Range>
      <Increment>0.01</Increment>
      <User>Advanced</User>
    </AHRS_TRIM_Z>
    <AHRS_ORIENTATION>
      <DisplayName>Board Orientation</DisplayName>
      <Description>Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.</Description>
      <Values>0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270</Values>
      <User>Advanced</User>
    </AHRS_ORIENTATION>
    <AHRS_COMP_BETA>
      <DisplayName>AHRS Velocity Complmentary Filter Beta Coefficient</DisplayName>
      <Description>This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.</Description>
      <Range>0.001 0.5</Range>
      <Increment>.01</Increment>
      <User>Advanced</User>
    </AHRS_COMP_BETA>
    <AHRS_GPS_MINSATS>
      <DisplayName>AHRS GPS Minimum satellites</DisplayName>
      <Description>Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.</Description>
      <Range>0 10</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </AHRS_GPS_MINSATS>
    <AHRS_EKF_USE>
      <DisplayName>Use NavEKF Kalman filter for attitude and position estimation</DisplayName>
      <Description>This controls whether the NavEKF Kalman filter is used for attitude and position estimation</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </AHRS_EKF_USE>
    <BRD_PWM_COUNT>
      <DisplayName>PWM Count</DisplayName>
      <Description>Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.</Description>
      <Values>0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs</Values>
    </BRD_PWM_COUNT>
    <BRD_SER1_RTSCTS>
      <DisplayName>Serial 1 flow control</DisplayName>
      <Description>Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER1_RTSCTS>
    <BRD_SER2_RTSCTS>
      <DisplayName>Serial 2 flow control</DisplayName>
      <Description>Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.</Description>
      <Values>0:Disabled,1:Enabled,2:Auto</Values>
    </BRD_SER2_RTSCTS>
    <BRD_SAFETYENABLE>
      <DisplayName>Enable use of safety arming switch</DisplayName>
      <Description>Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.</Description>
      <Values>0:Disabled,1:Enabled</Values>
    </BRD_SAFETYENABLE>
    <GPS_TYPE>
      <DisplayName>GPS type</DisplayName>
      <Description>GPS type</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:PX4EXPERIMENTAL</Values>
    </GPS_TYPE>
    <GPS_TYPE2>
      <DisplayName>2nd GPS type</DisplayName>
      <Description>GPS type of 2nd GPS</Description>
      <Values>0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:PX4EXPERIMENTAL</Values>
    </GPS_TYPE2>
    <GPS_NAVFILTER>
      <DisplayName>Navigation filter setting</DisplayName>
      <Description>Navigation filter engine setting</Description>
      <Values>0:Portable,2:Stationary,3:Pedestrian,4:Automotive,5:Sea,6:Airborne1G,7:Airborne2G,8:Airborne4G</Values>
    </GPS_NAVFILTER>
    <GPS_AUTO_SWITCH>
      <DisplayName>Automatic Switchover Setting</DisplayName>
      <Description>Automatic switchover to GPS reporting best lock</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Advanced</User>
    </GPS_AUTO_SWITCH>
    <GPS_DGPS_MIN_LOCK>
      <DisplayName>Minimum Lock Type Accepted for DGPS</DisplayName>
      <Description>Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.</Description>
      <Values>0:Any,50:FloatRTK,100:IntegerRTK</Values>
      <User>Advanced</User>
    </GPS_DGPS_MIN_LOCK>
    <GPS_SBAS_MODE>
      <DisplayName>SBAS Mode</DisplayName>
      <Description>This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.</Description>
      <Values>0:Disabled,1:Enabled,2:NoChange</Values>
      <User>Advanced</User>
    </GPS_SBAS_MODE>
    <GPS_MIN_ELEV>
      <DisplayName>Minimum elevation</DisplayName>
      <Description>This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.</Description>
      <Range>-100 90</Range>
      <Units>Degrees</Units>
      <User>Advanced</User>
    </GPS_MIN_ELEV>
    <RC1_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MIN>
    <RC1_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_TRIM>
    <RC1_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC1_MAX>
    <RC1_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC1_REV>
    <RC1_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC1_DZ>
    <RC2_MIN>
      <DisplayName>遥控最小PWM</DisplayName>
      <Description>遥控最小PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MIN>
    <RC2_TRIM>
      <DisplayName>遥控微调PWM</DisplayName>
      <Description>遥控微调（中点）PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_TRIM>
    <RC2_MAX>
      <DisplayName>遥控最大PWM</DisplayName>
      <Description>遥控最大PWM脉冲宽度。通常1000为下限，1500为中点，2000为上限。</Description>
      <Units>pwm</Units>
      <Range>800 2200</Range>
      <Increment>1</Increment>
      <User>Advanced</User>
    </RC2_MAX>
    <RC2_REV>
      <DisplayName>遥控反向</DisplayName>
      <Description>反转伺服操作。设为1则正常（向前）操作。设为-1反转这个通道。</Description>
      <Values>-1:反向,1:正常</Values>
      <User>Advanced</User>
    </RC2_REV>
    <RC2_DZ>
      <DisplayName>遥控死区</DisplayName>
      <Description>中点周围的死区。</Description>
      <Units>pwm</Units>
      <Range>0 200</Range>
      <User>Advanced</User>
    </RC2_DZ>
    <SYSID_THISMAV>
      <DisplayName>MAVLink system ID</DisplayName>
      <Description>The identifier of this device in the MAVLink protocol</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_THISMAV>
    <SYSID_MYGCS>
      <DisplayName>Ground station MAVLink system ID</DisplayName>
      <Description>The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </SYSID_MYGCS>
    <SERIAL0_BAUD>
      <DisplayName>USB Console Baud Rate</DisplayName>
      <Description>The baud rate used on the USB console</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200</Values>
      <User>Standard</User>
    </SERIAL0_BAUD>
    <SERIAL1_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the first telemetry port</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200</Values>
      <User>Standard</User>
    </SERIAL1_BAUD>
    <SERIAL2_BAUD>
      <DisplayName>Telemetry Baud Rate</DisplayName>
      <Description>The baud rate used on the second telemetry port</Description>
      <Values>1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200</Values>
      <User>Standard</User>
    </SERIAL2_BAUD>
    <MAG_ENABLE>
      <DisplayName>Enable Compass</DisplayName>
      <Description>Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.</Description>
      <Values>0:Disabled,1:Enabled</Values>
      <User>Standard</User>
    </MAG_ENABLE>
    <YAW_SLEW_TIME>
      <DisplayName>Time for yaw to slew through its full range</DisplayName>
      <Description>This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.</Description>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <Range>0 20</Range>
      <User>Standard</User>
    </YAW_SLEW_TIME>
    <PITCH_SLEW_TIME>
      <DisplayName>Time for pitch to slew through its full range</DisplayName>
      <Description>This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.</Description>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <Range>0 20</Range>
      <User>Standard</User>
    </PITCH_SLEW_TIME>
    <SCAN_SPEED>
      <DisplayName>Speed at which to rotate in scan mode</DisplayName>
      <Description>This controls how rapidly the tracker will move the servos in SCAN mode</Description>
      <Units>degrees/second</Units>
      <Increment>1</Increment>
      <Range>0 100</Range>
      <User>Standard</User>
    </SCAN_SPEED>
    <MIN_REVERSE_TIME>
      <DisplayName>Minimum time to apply a yaw reversal</DisplayName>
      <Description>When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around.</Description>
      <Units>seconds</Units>
      <Increment>1</Increment>
      <Range>0 20</Range>
      <User>Standard</User>
    </MIN_REVERSE_TIME>
    <START_LATITUDE>
      <DisplayName>Initial Latitude before GPS lock</DisplayName>
      <Description>Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.</Description>
      <Units>degrees</Units>
      <Increment>0.000001</Increment>
      <Range>-90 90</Range>
      <User>Standard</User>
    </START_LATITUDE>
    <START_LONGITUDE>
      <DisplayName>Initial Longitude before GPS lock</DisplayName>
      <Description>Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.</Description>
      <Units>degrees</Units>
      <Increment>0.000001</Increment>
      <Range>-180 180</Range>
      <User>Standard</User>
    </START_LONGITUDE>
    <STARTUP_DELAY>
      <DisplayName>Delay before first servo movement from trim</DisplayName>
      <Description>This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types</Description>
      <Units>seconds</Units>
      <Increment>0.1</Increment>
      <Range>0 10</Range>
      <User>Standard</User>
    </STARTUP_DELAY>
    <PROXY_MODE>
      <DisplayName>Also act as a MAVLink proxy for a vehicle</DisplayName>
      <Description>If true, the tracker will act as a MAVlink proxy for a remote vehicle, and will eavesdrop vehicle position reports.</Description>
      <Values>0:Off,1:On</Values>
      <User>Standard</User>
    </PROXY_MODE>
    <SERVO_TYPE>
      <DisplayName>Type of servo system being used</DisplayName>
      <Description>This allows selection of position servos or on/off servos</Description>
      <Values>0:Position,1:OnOff</Values>
      <User>Standard</User>
    </SERVO_TYPE>
    <ONOFF_YAW_RATE>
      <DisplayName>Yaw rate for on/off servos</DisplayName>
      <Description>Rate of change of yaw in degrees/second for on/off servos</Description>
      <Units>degrees/second</Units>
      <Increment>0.1</Increment>
      <Range>0 50</Range>
      <User>Standard</User>
    </ONOFF_YAW_RATE>
    <ONOFF_PITCH_RATE>
      <DisplayName>Pitch rate for on/off servos</DisplayName>
      <Description>Rate of change of pitch in degrees/second for on/off servos</Description>
      <Units>degrees/second</Units>
      <Increment>0.1</Increment>
      <Range>0 50</Range>
      <User>Standard</User>
    </ONOFF_PITCH_RATE>
    <ONOFF_YAW_MINT>
      <DisplayName>Yaw minimum movement time</DisplayName>
      <Description>Minimum amount of time in seconds to move in yaw</Description>
      <Units>seconds</Units>
      <Increment>0.01</Increment>
      <Range>0 2</Range>
      <User>Standard</User>
    </ONOFF_YAW_MINT>
    <ONOFF_PITCH_MINT>
      <DisplayName>Pitch minimum movement time</DisplayName>
      <Description>Minimim amount of time in seconds to move in pitch</Description>
      <Units>seconds</Units>
      <Increment>0.01</Increment>
      <Range>0 2</Range>
      <User>Standard</User>
    </ONOFF_PITCH_MINT>
    <YAW_TRIM>
      <DisplayName>Yaw trim</DisplayName>
      <Description>Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass.</Description>
      <Units>degrees</Units>
      <Increment>0.1</Increment>
      <Range>-10 10</Range>
      <User>Standard</User>
    </YAW_TRIM>
    <PITCH_TRIM>
      <DisplayName>Pitch trim</DisplayName>
      <Description>Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer.</Description>
      <Units>degrees</Units>
      <Increment>0.1</Increment>
      <Range>-10 10</Range>
      <User>Standard</User>
    </PITCH_TRIM>
    <YAW_RANGE>
      <DisplayName>Yaw Angle Range</DisplayName>
      <Description>Yaw axis total range of motion in degrees</Description>
      <Units>degrees</Units>
      <Increment>0.1</Increment>
      <Range>0 360</Range>
      <User>Standard</User>
    </YAW_RANGE>
    <PITCH_RANGE>
      <DisplayName>Pitch Range</DisplayName>
      <Description>Pitch axis total range of motion in degrees</Description>
      <Units>degrees</Units>
      <Increment>0.1</Increment>
      <Range>0 180</Range>
      <User>Standard</User>
      <Group>GND_</Group>
      <Path>../libraries/AP_Baro/AP_Baro.cpp</Path>
    </PITCH_RANGE>
    <CMD_TOTAL>
      <DisplayName>Number of loaded mission items</DisplayName>
      <Description>Set to 1 if HOME location has been loaded by the ground station. Do not change this manually.</Description>
      <Range>1 255</Range>
      <User>Advanced</User>
    </CMD_TOTAL>
  </ArduTracker>
</Params>