diff --git a/Copter-4.1/apm.pdef.json b/Copter-4.1/apm.pdef.json
index 7dec5fb..707119e 100644
--- a/Copter-4.1/apm.pdef.json
+++ b/Copter-4.1/apm.pdef.json
@@ -3588,7 +3588,8 @@
       "Bitmask": {
         "0": "Enable hardware watchdog",
         "1": "Disable MAVftp",
-        "2": "Enable set of internal parameters"
+        "2": "Enable set of internal parameters",
+        "3": "Enable Debug Pins"
       },
       "Description": "Board specific option flags",
       "DisplayName": "Board options",
@@ -4669,6 +4670,7 @@
       "Values": {
         "0": "Disabled",
         "1": "UAVCAN",
+        "11": "Benewake",
         "3": "ToshibaCAN",
         "4": "PiccoloCAN",
         "5": "CANTester",
@@ -4810,6 +4812,15 @@
       },
       "User": "Advanced"
     },
+    "CAN_D1_UC_OPTION": {
+      "Bitmask": {
+        "0": "ClearDNADatabase",
+        "1": "IgnoreDNANodeConflicts"
+      },
+      "Description": "Option flags",
+      "DisplayName": "UAVCAN options",
+      "User": "Advanced"
+    },
     "CAN_D1_UC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
@@ -4852,6 +4863,7 @@
       "Values": {
         "0": "Disabled",
         "1": "UAVCAN",
+        "11": "Benewake",
         "3": "ToshibaCAN",
         "4": "PiccoloCAN",
         "5": "CANTester",
@@ -4993,6 +5005,15 @@
       },
       "User": "Advanced"
     },
+    "CAN_D2_UC_OPTION": {
+      "Bitmask": {
+        "0": "ClearDNADatabase",
+        "1": "IgnoreDNANodeConflicts"
+      },
+      "Description": "Option flags",
+      "DisplayName": "UAVCAN options",
+      "User": "Advanced"
+    },
     "CAN_D2_UC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
@@ -5035,6 +5056,7 @@
       "Values": {
         "0": "Disabled",
         "1": "UAVCAN",
+        "11": "Benewake",
         "3": "ToshibaCAN",
         "4": "PiccoloCAN",
         "5": "CANTester",
@@ -5176,6 +5198,15 @@
       },
       "User": "Advanced"
     },
+    "CAN_D3_UC_OPTION": {
+      "Bitmask": {
+        "0": "ClearDNADatabase",
+        "1": "IgnoreDNANodeConflicts"
+      },
+      "Description": "Option flags",
+      "DisplayName": "UAVCAN options",
+      "User": "Advanced"
+    },
     "CAN_D3_UC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
@@ -6857,12 +6888,25 @@
       "Bitmask": {
         "0": "Allow Arming from Transmitter",
         "2": "Ignore pilot yaw",
-        "3": "SetAttitudeTarget_ThrustAsThrust"
+        "3": "SetAttitudeTarget interprets Thrust As Thrust",
+        "4": "Do not stabilize PositionXY",
+        "5": "Do not stabilize VelocityXY",
+        "6": "Waypoint navigation used for position targets"
       },
       "Description": "Options that can be applied to change guided mode behaviour",
       "DisplayName": "Guided mode options",
       "User": "Advanced"
     },
+    "GUID_TIMEOUT": {
+      "Description": "Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller.  Only applicable during velocity, acceleration or angle control",
+      "DisplayName": "Guided mode timeout",
+      "Range": {
+        "high": "5",
+        "low": "0.1"
+      },
+      "Units": "s",
+      "User": "Advanced"
+    },
     "INITIAL_MODE": {
       "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.",
       "DisplayName": "Initial flight mode",
@@ -7077,16 +7121,6 @@
       "Units": "Hz",
       "User": "Standard"
     },
-    "RNGFND_GAIN": {
-      "Description": "Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter",
-      "DisplayName": "Rangefinder gain",
-      "Increment": "0.01",
-      "Range": {
-        "high": "2.0",
-        "low": "0.01"
-      },
-      "User": "Standard"
-    },
     "RTL_ALT": {
       "Description": "The minimum alt above home the vehicle will climb to before returning.  If the vehicle is flying higher than this value it will return at its current altitude.",
       "DisplayName": "RTL Altitude",
@@ -7355,7 +7389,6 @@
         "39": "Circle Rate",
         "4": "Rate Roll/Pitch kP",
         "40": "Acro Yaw kP",
-        "41": "RangeFinder Gain",
         "45": "RC Feel",
         "46": "Rate Pitch kP",
         "47": "Rate Pitch kI",
@@ -7642,18 +7675,6 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "EK2_GSF_DELAY": {
-      "Description": "If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK2_GSF_DELAY milli-seconds, then the EKF2 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.",
-      "DisplayName": "Delay from loss of navigation to yaw reset",
-      "Increment": "100",
-      "Range": {
-        "high": "5000",
-        "low": "500"
-      },
-      "RebootRequired": "True",
-      "Units": "ms",
-      "User": "Advanced"
-    },
     "EK2_GSF_RST_MAX": {
       "Description": "Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.",
       "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed",
@@ -8301,18 +8322,6 @@
       "DisplayName": "GPS preflight check",
       "User": "Advanced"
     },
-    "EK3_GSF_DELAY": {
-      "Description": "If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK3_GSF_DELAY milli-seconds, then the EKF3 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.",
-      "DisplayName": "Delay from loss of navigation to yaw reset",
-      "Increment": "100",
-      "Range": {
-        "high": "5000",
-        "low": "500"
-      },
-      "RebootRequired": "True",
-      "Units": "ms",
-      "User": "Advanced"
-    },
     "EK3_GSF_RST_MAX": {
       "Description": "Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.",
       "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed",
@@ -8552,6 +8561,16 @@
       },
       "User": "Advanced"
     },
+    "EK3_PRIMARY": {
+      "Description": "The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.",
+      "DisplayName": "Primary core number",
+      "Increment": "1",
+      "Range": {
+        "high": "2",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "EK3_RNG_I_GATE": {
       "Description": "This sets the percentage 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.",
       "DisplayName": "Range finder measurement gate size",
@@ -8574,7 +8593,7 @@
       "User": "Advanced"
     },
     "EK3_RNG_USE_HGT": {
-      "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK3_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.",
+      "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.",
       "DisplayName": "Range finder switch height percentage",
       "Increment": "1",
       "Range": {
@@ -8686,7 +8705,7 @@
       "DisplayName": "Height rate to wind process noise scaler",
       "Increment": "0.1",
       "Range": {
-        "high": "1.0",
+        "high": "2.0",
         "low": "0.0"
       },
       "User": "Advanced"
@@ -8696,7 +8715,7 @@
       "DisplayName": "Wind velocity process noise (m/s^2)",
       "Increment": "0.1",
       "Range": {
-        "high": "1.0",
+        "high": "2.0",
         "low": "0.01"
       },
       "Units": "m/s/s",
@@ -9647,7 +9666,8 @@
     "GPS_DRV_OPTIONS": {
       "Bitmask": {
         "0": "Use UART2 for moving baseline on ublox",
-        "1": "Use base station for GPS yaw on SBF"
+        "1": "Use base station for GPS yaw on SBF",
+        "2": "Use baudrate 115200"
       },
       "Description": "Additional backend specific options",
       "DisplayName": "driver options",
@@ -10128,15 +10148,6 @@
       "Units": "PWM",
       "User": "Standard"
     },
-    "H_COLL_HOVER": {
-      "Description": "Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX",
-      "DisplayName": "Collective Hover Value",
-      "Range": {
-        "high": "0.8",
-        "low": "0.3"
-      },
-      "User": "Advanced"
-    },
     "H_COLYAW": {
       "Description": "Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.",
       "DisplayName": "Collective-Yaw Mixing",
@@ -10147,6 +10158,15 @@
       },
       "User": "Standard"
     },
+    "H_COL_HOVER": {
+      "Description": "Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX",
+      "DisplayName": "Collective Hover Value",
+      "Range": {
+        "high": "0.8",
+        "low": "0.3"
+      },
+      "User": "Advanced"
+    },
     "H_COL_MAX": {
       "Description": "Highest possible servo position in PWM microseconds for the swashplate",
       "DisplayName": "Maximum Collective Pitch",
@@ -20684,6 +20704,28 @@
       "Units": "deg",
       "User": "Advanced"
     },
+    "PSC_JERK_XY": {
+      "Description": "Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target",
+      "DisplayName": "Jerk limit for the horizontal kinematic input shaping",
+      "Increment": "1",
+      "Range": {
+        "high": "20",
+        "low": "1"
+      },
+      "Units": "m/s/s/s",
+      "User": "Advanced"
+    },
+    "PSC_JERK_Z": {
+      "Description": "Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target",
+      "DisplayName": "Jerk limit for the vertical kinematic input shaping",
+      "Increment": "1",
+      "Range": {
+        "high": "50",
+        "low": "5"
+      },
+      "Units": "m/s/s/s",
+      "User": "Advanced"
+    },
     "PSC_POSXY_P": {
       "Description": "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",
       "DisplayName": "Position (horizontal) controller P gain",
@@ -20702,28 +20744,6 @@
       },
       "User": "Standard"
     },
-    "PSC_TC_XY": {
-      "Description": "Time constant of the horizontal kinimatic path generation used to determine how quickly the aircraft varies the acceleration target",
-      "DisplayName": "Time constant for the horizontal kinimatic input shaping",
-      "Increment": "0.01",
-      "Range": {
-        "high": "2",
-        "low": "0.25"
-      },
-      "Units": "s",
-      "User": "Advanced"
-    },
-    "PSC_TC_Z": {
-      "Description": "Time constant of the vertical kinimatic path generation used to determine how quickly the aircraft varies the acceleration target",
-      "DisplayName": "Time constant for the vertical kinimatic input shaping",
-      "Increment": "0.01",
-      "Range": {
-        "high": "1",
-        "low": "0.1"
-      },
-      "Units": "s",
-      "User": "Advanced"
-    },
     "PSC_VELXY_D": {
       "Description": "Velocity (horizontal) D gain.  Corrects short-term changes in velocity",
       "DisplayName": "Velocity (horizontal) D gain",
@@ -20734,16 +20754,6 @@
       },
       "User": "Advanced"
     },
-    "PSC_VELXY_D_FILT": {
-      "Description": "Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term",
-      "DisplayName": "Velocity (horizontal) input filter",
-      "Range": {
-        "high": "100",
-        "low": "0"
-      },
-      "Units": "Hz",
-      "User": "Advanced"
-    },
     "PSC_VELXY_FF": {
       "Description": "Velocity (horizontal) feed forward gain.  Converts the difference between desired velocity to a target acceleration",
       "DisplayName": "Velocity (horizontal) feed forward gain",
@@ -20754,7 +20764,17 @@
       },
       "User": "Advanced"
     },
-    "PSC_VELXY_FILT": {
+    "PSC_VELXY_FLTD": {
+      "Description": "Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term",
+      "DisplayName": "Velocity (horizontal) input filter",
+      "Range": {
+        "high": "100",
+        "low": "0"
+      },
+      "Units": "Hz",
+      "User": "Advanced"
+    },
+    "PSC_VELXY_FLTE": {
       "Description": "Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms",
       "DisplayName": "Velocity (horizontal) input filter",
       "Range": {
@@ -20892,13 +20912,15 @@
       "Bitmask": {
         "0": "Ignore RC Receiver",
         "1": "Ignore MAVLink Overrides",
+        "10": "Enable RC Protocol re-detection",
         "2": "Ignore Receiver Failsafe bit but allow other RC failsafes if setup",
         "3": "FPort Pad",
         "4": "Log RC input bytes",
         "5": "Arming check throttle for 0 input",
         "6": "Skip the arming check for neutral Roll/Pitch/Yay sticks",
         "7": "Allow Switch reverse",
-        "8": "Use passthrough for CRSF telemetry"
+        "8": "Use passthrough for CRSF telemetry",
+        "9": "Suppress CRSF mode/rate message for ELRS systems"
       },
       "Description": "RC input options",
       "DisplayName": "RC options",
@@ -23540,6 +23562,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND1_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND1_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -23556,6 +23587,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND1_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND1_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -23610,6 +23650,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -23801,6 +23842,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND2_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND2_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -23817,6 +23867,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND2_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND2_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -23871,6 +23930,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -24062,6 +24122,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND3_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND3_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -24078,6 +24147,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND3_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND3_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -24132,6 +24210,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -24323,6 +24402,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND4_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND4_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -24339,6 +24427,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND4_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND4_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -24393,6 +24490,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -24584,6 +24682,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND5_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND5_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -24600,6 +24707,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND5_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND5_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -24654,6 +24770,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -24845,6 +24962,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND6_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND6_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -24861,6 +24987,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND6_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND6_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -24915,6 +25050,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -25106,6 +25242,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND7_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND7_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -25122,6 +25267,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND7_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND7_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -25176,6 +25330,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -25367,6 +25522,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND8_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND8_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -25383,6 +25547,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND8_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND8_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -25437,6 +25610,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -25628,6 +25802,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND9_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND9_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -25644,6 +25827,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND9_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND9_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -25698,6 +25890,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -25889,6 +26082,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFNDA_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFNDA_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -25905,6 +26107,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFNDA_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFNDA_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -25959,6 +26170,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -26352,6 +26564,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26403,6 +26616,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26437,6 +26651,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26488,6 +26703,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26522,6 +26738,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26573,6 +26790,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26607,6 +26825,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26658,6 +26877,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26692,6 +26912,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26743,6 +26964,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26777,6 +26999,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26828,6 +27051,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26862,6 +27086,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26912,6 +27137,8 @@
         "34": "AirSpeed",
         "35": "ADSB",
         "36": "AHRS",
+        "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26920,7 +27147,7 @@
       }
     },
     "SERIAL8_BAUD": {
-      "Description": "The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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": "The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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.",
       "DisplayName": "Serial 8 Baud Rate",
       "User": "Standard",
       "Values": {
@@ -26946,6 +27173,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26996,6 +27224,8 @@
         "34": "AirSpeed",
         "35": "ADSB",
         "36": "AHRS",
+        "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -29502,6 +29732,56 @@
       "User": "Standard"
     }
   },
+  "SERVO_FTW_": {
+    "SERVO_FTW_MASK": {
+      "Bitmask": {
+        "0": "SERVO1",
+        "1": "SERVO2",
+        "10": "SERVO11",
+        "11": "SERVO12",
+        "2": "SERVO3",
+        "3": "SERVO4",
+        "4": "SERVO5",
+        "5": "SERVO6",
+        "6": "SERVO7",
+        "7": "SERVO8",
+        "8": "SERVO9",
+        "9": "SERVO10"
+      },
+      "Description": "Servo channel mask specifying FETtec ESC output.",
+      "DisplayName": "Servo channel output bitmask",
+      "RebootRequired": "True",
+      "User": "Standard"
+    },
+    "SERVO_FTW_POLES": {
+      "Description": "Number of motor electrical poles",
+      "DisplayName": "Nr. electrical poles",
+      "Range": {
+        "high": "50",
+        "low": "2"
+      },
+      "User": "Standard"
+    },
+    "SERVO_FTW_RVMASK": {
+      "Bitmask": {
+        "0": "SERVO1",
+        "1": "SERVO2",
+        "10": "SERVO11",
+        "11": "SERVO12",
+        "2": "SERVO3",
+        "3": "SERVO4",
+        "4": "SERVO5",
+        "5": "SERVO6",
+        "6": "SERVO7",
+        "7": "SERVO8",
+        "8": "SERVO9",
+        "9": "SERVO10"
+      },
+      "Description": "Servo channel mask to reverse rotation of FETtec ESC outputs.",
+      "DisplayName": "Servo channel reverse rotation bitmask",
+      "User": "Standard"
+    }
+  },
   "SERVO_ROB_": {
     "SERVO_ROB_POSMAX": {
       "Description": "Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095",
@@ -31267,7 +31547,7 @@
         "high": "20",
         "low": "1"
       },
-      "Units": "m/s/s",
+      "Units": "m/s/s/s",
       "User": "Standard"
     },
     "WPNAV_RADIUS": {
@@ -31322,6 +31602,16 @@
       },
       "Units": "cm/s",
       "User": "Standard"
+    },
+    "WPNAV_TER_MARGIN": {
+      "Description": "Waypoint Terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)",
+      "DisplayName": "Waypoint Terrain following altitude margin",
+      "Range": {
+        "high": "100",
+        "low": "0.1"
+      },
+      "Units": "m",
+      "User": "Advanced"
     }
   },
   "ZIGZ_": {
diff --git a/Copter-4.1/apm.pdef.xml b/Copter-4.1/apm.pdef.xml
index 4898e43..836af39 100644
--- a/Copter-4.1/apm.pdef.xml
+++ b/Copter-4.1/apm.pdef.xml
@@ -94,10 +94,6 @@
           <value code="1">Terrain</value>
         </values>
       </param>
-      <param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
-        <field name="Range">0.01 2.0</field>
-        <field name="Increment">0.01</field>
-      </param>
       <param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled." user="Standard">
         <values>
           <value code="0">Disabled/NoAction</value>
@@ -486,7 +482,6 @@
           <value code="13">Heli Ext Gyro</value>
           <value code="38">Declination</value>
           <value code="39">Circle Rate</value>
-          <value code="41">RangeFinder Gain</value>
           <value code="46">Rate Pitch kP</value>
           <value code="47">Rate Pitch kI</value>
           <value code="48">Rate Pitch kD</value>
@@ -718,7 +713,7 @@
         <field name="Bitmask">0:Allow Arming,1:Allow Takeoff Without Raising Throttle,2:Ignore pilot yaw</field>
       </param>
       <param humanName="Guided mode options" name="ArduCopter:GUID_OPTIONS" documentation="Options that can be applied to change guided mode behaviour" user="Advanced">
-        <field name="Bitmask">0:Allow Arming from Transmitter,2:Ignore pilot yaw,3:SetAttitudeTarget_ThrustAsThrust</field>
+        <field name="Bitmask">0:Allow Arming from Transmitter,2:Ignore pilot yaw,3:SetAttitudeTarget interprets Thrust As Thrust,4:Do not stabilize PositionXY,5:Do not stabilize VelocityXY,6:Waypoint navigation used for position targets</field>
       </param>
       <param humanName="GCS failsafe timeout" name="ArduCopter:FS_GCS_TIMEOUT" documentation="Timeout before triggering the GCS failsafe" user="Standard">
         <field name="Units">s</field>
@@ -739,6 +734,11 @@
         <field name="Increment">0.05</field>
         <field name="RebootRequired">True</field>
       </param>
+      <param humanName="Guided mode timeout" name="ArduCopter:GUID_TIMEOUT" documentation="Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller.  Only applicable during velocity, acceleration or angle control" user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">0.1 5</field>
+      </param>
     </parameters>
   </vehicles>
   <libraries>
@@ -3171,7 +3171,7 @@
         </values>
       </param>
       <param humanName="Board options" name="BRD_OPTIONS" documentation="Board specific option flags" user="Advanced">
-        <field name="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters</field>
+        <field name="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins</field>
       </param>
       <param humanName="Boot delay" name="BRD_BOOT_DELAY" documentation="This adds a delay in milliseconds to boot to ensure peripherals initialise fully" user="Advanced">
         <field name="Range">0 10000</field>
@@ -3824,6 +3824,7 @@
           <value code="5">CANTester</value>
           <value code="8">KDECAN</value>
           <value code="9">PacketDigitalCAN</value>
+          <value code="11">Benewake</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -3883,6 +3884,9 @@
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
       </param>
+      <param humanName="UAVCAN options" name="CAN_D1_UC_OPTION" documentation="Option flags" user="Advanced">
+        <field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+      </param>
     </parameters>
     <parameters name="CAN_D2_">
       <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
@@ -3894,6 +3898,7 @@
           <value code="5">CANTester</value>
           <value code="8">KDECAN</value>
           <value code="9">PacketDigitalCAN</value>
+          <value code="11">Benewake</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -3953,6 +3958,9 @@
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
       </param>
+      <param humanName="UAVCAN options" name="CAN_D2_UC_OPTION" documentation="Option flags" user="Advanced">
+        <field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+      </param>
     </parameters>
     <parameters name="CAN_D3_">
       <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
@@ -3964,6 +3972,7 @@
           <value code="5">CANTester</value>
           <value code="8">KDECAN</value>
           <value code="9">PacketDigitalCAN</value>
+          <value code="11">Benewake</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -4023,6 +4032,9 @@
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
       </param>
+      <param humanName="UAVCAN options" name="CAN_D3_UC_OPTION" documentation="Option flags" user="Advanced">
+        <field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+      </param>
     </parameters>
     <parameters name="CAN_P1_">
       <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -4964,13 +4976,6 @@
         <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
         <field name="RebootRequired">True</field>
       </param>
-      <param humanName="Delay from loss of navigation to yaw reset" name="EK2_GSF_DELAY" documentation="If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK2_GSF_DELAY milli-seconds, then the EKF2 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter." user="Advanced">
-        <field name="Range">500 5000</field>
-        <field name="Increment">100</field>
-        <field name="Units">ms</field>
-        <field name="UnitText">milliseconds</field>
-        <field name="RebootRequired">True</field>
-      </param>
       <param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK2_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter." user="Advanced">
         <field name="Range">1 10</field>
         <field name="Increment">1</field>
@@ -5122,13 +5127,13 @@
         <field name="UnitText">meters per cubic second</field>
       </param>
       <param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-        <field name="Range">0.01 1.0</field>
+        <field name="Range">0.01 2.0</field>
         <field name="Increment">0.1</field>
         <field name="Units">m/s/s</field>
         <field name="UnitText">meters per square second</field>
       </param>
       <param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-        <field name="Range">0.0 1.0</field>
+        <field name="Range">0.0 2.0</field>
         <field name="Increment">0.1</field>
       </param>
       <param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
@@ -5178,7 +5183,7 @@
         <field name="Units">Gauss/s</field>
         <field name="UnitText">gauss per second</field>
       </param>
-      <param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK3_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
+      <param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
         <field name="Range">-1 70</field>
         <field name="Increment">1</field>
         <field name="Units">%</field>
@@ -5270,13 +5275,6 @@
         <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
         <field name="RebootRequired">True</field>
       </param>
-      <param humanName="Delay from loss of navigation to yaw reset" name="EK3_GSF_DELAY" documentation="If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK3_GSF_DELAY milli-seconds, then the EKF3 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter." user="Advanced">
-        <field name="Range">500 5000</field>
-        <field name="Increment">100</field>
-        <field name="Units">ms</field>
-        <field name="UnitText">milliseconds</field>
-        <field name="RebootRequired">True</field>
-      </param>
       <param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK3_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter." user="Advanced">
         <field name="Range">1 10</field>
         <field name="Increment">1</field>
@@ -5320,6 +5318,10 @@
         <field name="Range">0.0 10.0</field>
         <field name="Increment">0.5</field>
       </param>
+      <param humanName="Primary core number" name="EK3_PRIMARY" documentation="The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK." user="Advanced">
+        <field name="Range">0 2</field>
+        <field name="Increment">1</field>
+      </param>
     </parameters>
     <parameters name="EK3_SRC">
       <param humanName="Position Horizontal Source (Primary)" name="EK3_SRC1_POSXY" documentation="Position Horizontal Source (Primary)" user="Advanced">
@@ -6042,7 +6044,7 @@
         <field name="Range">5.0 30.0</field>
       </param>
       <param humanName="driver options" name="GPS_DRV_OPTIONS" documentation="Additional backend specific options" user="Advanced">
-        <field name="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF</field>
+        <field name="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200</field>
       </param>
       <param humanName="GPS physical COM port" name="GPS_COM_PORT" documentation="The physical COM port on the connected device, currently only applies to SBF GPS" user="Advanced">
         <field name="Range">0 10</field>
@@ -6429,7 +6431,7 @@
         <field name="Range">0 10</field>
         <field name="Increment">1</field>
       </param>
-      <param humanName="Collective Hover Value" name="H_COLL_HOVER" documentation="Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX" user="Advanced">
+      <param humanName="Collective Hover Value" name="H_COL_HOVER" documentation="Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX" user="Advanced">
         <field name="Range">0.3 0.8</field>
       </param>
       <param humanName="Hover Value Learning" name="H_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover collective" user="Advanced">
@@ -11688,12 +11690,12 @@
         <field name="Units">cm/s/s</field>
         <field name="UnitText">centimeters per square second</field>
       </param>
-      <param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FILT" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
+      <param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FLTE" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
         <field name="Range">0 100</field>
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
       </param>
-      <param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_D_FILT" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term" user="Advanced">
+      <param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FLTD" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term" user="Advanced">
         <field name="Range">0 100</field>
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
@@ -11708,17 +11710,17 @@
         <field name="Range">0 45</field>
         <field name="Increment">1</field>
       </param>
-      <param humanName="Time constant for the horizontal kinimatic input shaping" name="PSC_TC_XY" documentation="Time constant of the horizontal kinimatic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
-        <field name="Units">s</field>
-        <field name="UnitText">seconds</field>
-        <field name="Range">0.25 2</field>
-        <field name="Increment">0.01</field>
+      <param humanName="Jerk limit for the horizontal kinematic input shaping" name="PSC_JERK_XY" documentation="Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
+        <field name="Range">1 20</field>
+        <field name="Increment">1</field>
       </param>
-      <param humanName="Time constant for the vertical kinimatic input shaping" name="PSC_TC_Z" documentation="Time constant of the vertical kinimatic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
-        <field name="Units">s</field>
-        <field name="UnitText">seconds</field>
-        <field name="Range">0.1 1</field>
-        <field name="Increment">0.01</field>
+      <param humanName="Jerk limit for the vertical kinematic input shaping" name="PSC_JERK_Z" documentation="Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
+        <field name="Range">5 50</field>
+        <field name="Increment">1</field>
       </param>
     </parameters>
     <parameters name="RALLY_">
@@ -11743,7 +11745,7 @@
         <field name="UnitText">seconds</field>
       </param>
       <param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
-        <field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry</field>
+        <field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection</field>
       </param>
       <param humanName="RC protocols enabled" name="RC_PROTOCOLS" documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols." user="Advanced">
         <field name="Bitmask">0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2</field>
@@ -13800,6 +13802,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -13934,6 +13937,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND1_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND1_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND2_">
       <param humanName="Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -13971,6 +13980,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14105,6 +14115,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND2_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND2_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND3_">
       <param humanName="Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14142,6 +14158,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14276,6 +14293,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND3_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND3_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND4_">
       <param humanName="Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14313,6 +14336,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14447,6 +14471,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND4_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND4_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND5_">
       <param humanName="Rangefinder type" name="RNGFND5_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14484,6 +14514,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14618,6 +14649,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND5_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND5_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND6_">
       <param humanName="Rangefinder type" name="RNGFND6_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14655,6 +14692,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14789,6 +14827,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND6_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND6_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND7_">
       <param humanName="Rangefinder type" name="RNGFND7_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14826,6 +14870,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14960,6 +15005,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND7_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND7_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND8_">
       <param humanName="Rangefinder type" name="RNGFND8_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14997,6 +15048,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -15131,6 +15183,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND8_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND8_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND9_">
       <param humanName="Rangefinder type" name="RNGFND9_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -15168,6 +15226,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -15302,6 +15361,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND9_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND9_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFNDA_">
       <param humanName="Rangefinder type" name="RNGFNDA_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -15339,6 +15404,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -15473,6 +15539,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFNDA_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFNDA_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RPM">
       <param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
@@ -15704,6 +15776,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15764,6 +15837,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15824,6 +15898,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15884,6 +15959,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15944,6 +16020,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -16004,6 +16081,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -16027,27 +16105,27 @@
         </values>
       </param>
       <param humanName="Telem1 options" name="SERIAL1_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Telem2 options" name="SERIAL2_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial3 options" name="SERIAL3_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial4 options" name="SERIAL4_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial5 options" name="SERIAL5_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial6 options" name="SERIAL6_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial passthru first port" name="SERIAL_PASS1" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
@@ -16116,6 +16194,8 @@
           <value code="34">AirSpeed</value>
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -16139,7 +16219,7 @@
         </values>
       </param>
       <param humanName="Serial7 options" name="SERIAL7_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial8 protocol selection" name="SERIAL8_PROTOCOL" documentation="Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
@@ -16179,10 +16259,12 @@
           <value code="34">AirSpeed</value>
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
-      <param humanName="Serial 8 Baud Rate" name="SERIAL8_BAUD" documentation="The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+      <param humanName="Serial 8 Baud Rate" name="SERIAL8_BAUD" documentation="The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
         <values>
           <value code="1">1200</value>
           <value code="2">2400</value>
@@ -16202,7 +16284,7 @@
         </values>
       </param>
       <param humanName="Serial8 options" name="SERIAL8_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
     </parameters>
@@ -18206,6 +18288,18 @@
         <field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
       </param>
     </parameters>
+    <parameters name="SERVO_FTW_">
+      <param humanName="Servo channel output bitmask" name="SERVO_FTW_MASK" documentation="Servo channel mask specifying FETtec ESC output." user="Standard">
+        <field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Servo channel reverse rotation bitmask" name="SERVO_FTW_RVMASK" documentation="Servo channel mask to reverse rotation of FETtec ESC outputs." user="Standard">
+        <field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
+      </param>
+      <param humanName="Nr. electrical poles" name="SERVO_FTW_POLES" documentation="Number of motor electrical poles" user="Standard">
+        <field name="Range">2 50</field>
+      </param>
+    </parameters>
     <parameters name="SERVO_ROB_">
       <param humanName="Robotis servo position min" name="SERVO_ROB_POSMIN" documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
         <field name="Range">0 4095</field>
@@ -19316,10 +19410,15 @@
         </values>
       </param>
       <param humanName="Waypoint Jerk" name="WPNAV_JERK" documentation="Defines the horizontal jerk in m/s/s used during missions" user="Standard">
-        <field name="Units">m/s/s</field>
-        <field name="UnitText">meters per square second</field>
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
         <field name="Range">1 20</field>
       </param>
+      <param humanName="Waypoint Terrain following altitude margin" name="WPNAV_TER_MARGIN" documentation="Waypoint Terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)" user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0.1 100</field>
+      </param>
     </parameters>
     <parameters name="ZIGZ_">
       <param humanName="ZigZag auto enable/disable" name="ZIGZ_AUTO_ENABLE" documentation="Allows you to enable (1) or disable (0) ZigZag auto feature" user="Advanced">
diff --git a/Copter-4.3/ParameterMetaData.xml b/Copter-4.3/ParameterMetaData.xml
index 1f49441..c5a8582 100644
--- a/Copter-4.3/ParameterMetaData.xml
+++ b/Copter-4.3/ParameterMetaData.xml
@@ -1581,6 +1581,14 @@
       <Range>-1.0 1.0</Range>
       <User>Advanced</User>
     </BARO3_WCF_RGT>
+    <BARO_ALTERR_MAX>
+      <Description>This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.</Description>
+      <DisplayName>Altitude error maximum</DisplayName>
+      <Increment>1</Increment>
+      <Range>0 5000</Range>
+      <Units>m</Units>
+      <User>Advanced</User>
+    </BARO_ALTERR_MAX>
     <BARO_ALT_OFFSET>
       <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>
       <DisplayName>altitude offset</DisplayName>
@@ -1617,6 +1625,12 @@
       <User>Advanced</User>
       <Volatile>True</Volatile>
     </BARO_GND_TEMP>
+    <BARO_OPTIONS>
+      <Bitmask>0:Treat MS5611 as MS5607</Bitmask>
+      <Description>Barometer options</Description>
+      <DisplayName>Barometer options</DisplayName>
+      <User>Advanced</User>
+    </BARO_OPTIONS>
     <BARO_PRIMARY>
       <Description>This selects which barometer will be the primary if multiple barometers are found</Description>
       <DisplayName>Primary barometer</DisplayName>
@@ -3356,11 +3370,11 @@
       <User>Advanced</User>
     </BRD_HEAT_TARG>
     <BRD_IO_ENABLE>
-      <Description>This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled</Description>
+      <Description>This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup</Description>
       <DisplayName>Enable IO co-processor</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Advanced</User>
-      <Values>0:Disabled,1:Enabled</Values>
+      <Values>0:Disabled,1:Enabled,2:EnableNoFWUpdate</Values>
     </BRD_IO_ENABLE>
     <BRD_OPTIONS>
       <Bitmask>0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot</Bitmask>
@@ -3495,7 +3509,7 @@
       <Values>0:Disabled,1:Enabled</Values>
     </BRD_SAFETYENABLE>
     <BRD_SAFETYOPTION>
-      <Bitmask>0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</Bitmask>
+      <Bitmask>0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</Bitmask>
       <Description>This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed</Description>
       <DisplayName>Options for safety button behavior</DisplayName>
       <User>Standard</User>
@@ -3595,25 +3609,25 @@
       <Description>Auxiliary RC Options function executed on pin change</Description>
       <DisplayName>Button Pin 1 RC Channel function</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </BTN_FUNC1>
     <BTN_FUNC2>
       <Description>Auxiliary RC Options function executed on pin change</Description>
       <DisplayName>Button Pin 2 RC Channel function</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </BTN_FUNC2>
     <BTN_FUNC3>
       <Description>Auxiliary RC Options function executed on pin change</Description>
       <DisplayName>Button Pin 3 RC Channel function</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </BTN_FUNC3>
     <BTN_FUNC4>
       <Description>Auxiliary RC Options function executed on pin change</Description>
       <DisplayName>Button Pin 4 RC Channel function</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </BTN_FUNC4>
     <BTN_OPTIONS1>
       <Bitmask>0:PWM Input,1:InvertInput</Bitmask>
@@ -3738,7 +3752,7 @@
     <CAM_RC_TYPE>
       <Description>RunCam deviee type used to determine OSD menu structure and shutter options.</Description>
       <DisplayName>RunCam device type</DisplayName>
-      <Values>0:Disabled,1:RunCam Split Micro/RunCam with UART,2:RunCam Split,3:RunCam Split4 4k,4:RunCam Hybrid</Values>
+      <Values>0:Disabled,1:RunCam Split Micro/RunCam with UART,2:RunCam Split,3:RunCam Split4 4k,4:RunCam Hybrid/RunCam Thumb Pro</Values>
     </CAM_RC_TYPE>
     <CAM_RELAY_ON>
       <Description>This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera</Description>
@@ -3771,7 +3785,7 @@
       <Description>how to trigger the camera to take a picture</Description>
       <DisplayName>Camera shutter (trigger) type</DisplayName>
       <User>Standard</User>
-      <Values>0:Servo,1:Relay,2:GoPro in Solo Gimbal</Values>
+      <Values>0:Servo,1:Relay,2:GoPro in Solo Gimbal,3:Mount (Siyi)</Values>
     </CAM_TRIGG_TYPE>
     <CAM_TYPE>
       <Description>Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.</Description>
@@ -4937,8 +4951,8 @@
       <Values>-1:Disabled,0:Serial0,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6</Values>
     </DID_MAVPORT>
     <DID_OPTIONS>
-      <Bitmask>0:EnforceArming</Bitmask>
-      <Description>Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks</Description>
+      <Bitmask>0:EnforceArming, 1:AllowNonGPSPosition</Bitmask>
+      <Description>Options for OpenDroneID subsystem</Description>
       <DisplayName>OpenDroneID options</DisplayName>
     </DID_OPTIONS>
     <DISARM_DELAY>
@@ -8737,7 +8751,7 @@
       <DisplayName>Mount Type</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>0:None,1:Servo,2:3DR Solo,3:Alexmos Serial,4:SToRM32 MAVLink,5:SToRM32 Serial,6:Gremsy,7:BrushlessPWM</Values>
+      <Values>0:None,1:Servo,2:3DR Solo,3:Alexmos Serial,4:SToRM32 MAVLink,5:SToRM32 Serial,6:Gremsy,7:BrushlessPWM,8:Siyi</Values>
     </MNT1_TYPE>
     <MNT1_YAW_MAX>
       <Description>Mount Yaw angle maximum</Description>
@@ -8870,7 +8884,7 @@
       <DisplayName>Mount Type</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>0:None,1:Servo,2:3DR Solo,3:Alexmos Serial,4:SToRM32 MAVLink,5:SToRM32 Serial,6:Gremsy,7:BrushlessPWM</Values>
+      <Values>0:None,1:Servo,2:3DR Solo,3:Alexmos Serial,4:SToRM32 MAVLink,5:SToRM32 Serial,6:Gremsy,7:BrushlessPWM,8:Siyi</Values>
     </MNT2_TYPE>
     <MNT2_YAW_MAX>
       <Description>Mount Yaw angle maximum</Description>
@@ -14126,7 +14140,7 @@
       <User>Advanced</User>
     </PLND_LAND_OFS_Y>
     <PLND_OPTIONS>
-      <Bitmask>0: Moving Landing Target</Bitmask>
+      <Bitmask>0: Moving Landing Target, 1: Allow Precision Landing after manual reposition </Bitmask>
       <Description>Precision Landing Extra Options</Description>
       <DisplayName>Precision Landing Extra Options</DisplayName>
       <User>Advanced</User>
@@ -14810,7 +14824,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC10_OPTION>
     <RC10_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14853,7 +14867,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC11_OPTION>
     <RC11_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14896,7 +14910,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC12_OPTION>
     <RC12_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14939,7 +14953,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC13_OPTION>
     <RC13_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14982,7 +14996,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC14_OPTION>
     <RC14_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15025,7 +15039,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC15_OPTION>
     <RC15_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15068,7 +15082,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC16_OPTION>
     <RC16_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15111,7 +15125,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC1_OPTION>
     <RC1_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15154,7 +15168,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC2_OPTION>
     <RC2_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15197,7 +15211,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC3_OPTION>
     <RC3_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15240,7 +15254,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC4_OPTION>
     <RC4_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15283,7 +15297,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC5_OPTION>
     <RC5_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15326,7 +15340,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC6_OPTION>
     <RC6_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15369,7 +15383,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC7_OPTION>
     <RC7_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15412,7 +15426,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC8_OPTION>
     <RC8_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15455,7 +15469,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,2:Flip,3:Simple Mode,4:RTL,5:Save Trim,7:Save WP,9:Camera Trigger,10:RangeFinder,11:Fence,13:Super Simple Mode,14:Acro Trainer,15:Sprayer,16:Auto,17:AutoTune,18:Land,19:Gripper,21:Parachute Enable,22:Parachute Release,23:Parachute 3pos,24:Auto Mission Reset,25:AttCon Feed Forward,26:AttCon Accel Limits,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Copter Sound,31:Motor Emergency Stop,32:Motor Interlock,33:Brake,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,37:Throw,38:ADSB Avoidance En,39:PrecLoiter,40:Proximity Avoidance,41:ArmDisarm (4.1 and lower),42:SmartRTL,43:InvertedFlight,44:Winch Enable,46:RC Override Enable,47:User Function 1,48:User Function 2,49:User Function 3,52:Acro,55:Guided,56:Loiter,57:Follow,58:Clear Waypoints,60:ZigZag,61:ZigZag SaveWP,62:Compass Learn,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,68:Stabilize,69:PosHold,70:AltHold,71:FlowHold,72:Circle,73:Drift,75:SurfaceTrackingUpDown,76:Standby Mode,78:RunCam Control,79:RunCam OSD Control,80:VisOdom Align,81:Disarm,83:ZigZag Auto,84:Air Mode,85:Generator,90:EKF Pos Source,94:VTX Power,99:AUTO RTL,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,151:Turtle,152:simple heading reset,153:ArmDisarm (4.2 and higher),154:ArmDisarm with AirMode  (4.2 and higher),158:Optflow Calibration,159:Force Flying,161:Turbine Start(heli),162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC9_OPTION>
     <RC9_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15504,7 +15518,7 @@
       <User>Advanced</User>
     </RCMAP_YAW>
     <RC_OPTIONS>
-      <Bitmask>0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:CRSF RSSI shows Link Quality</Bitmask>
+      <Bitmask>0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 13: Use 420kbaud for ELRS protocol</Bitmask>
       <Description>RC input options</Description>
       <DisplayName>RC options</DisplayName>
       <User>Advanced</User>
diff --git a/Copter-4.3/Parameters.html b/Copter-4.3/Parameters.html
index 74dada3..b110c7f 100644
--- a/Copter-4.3/Parameters.html
+++ b/Copter-4.3/Parameters.html
@@ -3400,6 +3400,24 @@ <h2>field elevation (BARO_FIELD_ELV)</h2><em>Note: This parameter is for advance
 </ul>
 
 
+<h2>Altitude error maximum (BARO_ALTERR_MAX)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a &quot;Pixhawk&quot; with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.</p>
+<ul>
+<li>Units: meters</li>
+<li>Increment: 1</li>
+<li>Range: 0 5000</li>
+</ul>
+
+
+<h2>Barometer options (BARO_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Barometer options</p>
+<ul>
+<li>Bitmask: 0:Treat MS5611 as MS5607</li>
+</ul>
+
+
 <h1>BARO1_WCF_ Parameters</h1>
 
 
@@ -6538,11 +6556,12 @@ <h2>Board type (BRD_TYPE)</h2><em>Note: This parameter is for advanced users</em
 
 <h2>Enable IO co-processor (BRD_IO_ENABLE)</h2><em>Note: This parameter is for advanced users</em><br>
 
-<p>This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled</p>
+<p>This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup</p>
 <ul>
 <table><th>Value</th><th>Meaning</th>
 <tr><td>0</td><td>Disabled</td></tr>
 <tr><td>1</td><td>Enabled</td></tr>
+<tr><td>2</td><td>EnableNoFWUpdate</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -6552,7 +6571,7 @@ <h2>Options for safety button behavior (BRD_SAFETYOPTION)</h2>
 
 <p>This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed</p>
 <ul>
-<li>Bitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</li>
+<li>Bitmask: 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</li>
 </ul>
 
 
@@ -7064,6 +7083,10 @@ <h2>Button Pin 1 RC Channel function (BTN_FUNC1)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -7175,6 +7198,10 @@ <h2>Button Pin 2 RC Channel function (BTN_FUNC2)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -7286,6 +7313,10 @@ <h2>Button Pin 3 RC Channel function (BTN_FUNC3)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -7397,6 +7428,10 @@ <h2>Button Pin 4 RC Channel function (BTN_FUNC4)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -7426,6 +7461,7 @@ <h2>Camera shutter (trigger) type (CAM_TRIGG_TYPE)</h2>
 <tr><td>0</td><td>Servo</td></tr>
 <tr><td>1</td><td>Relay</td></tr>
 <tr><td>2</td><td>GoPro in Solo Gimbal</td></tr>
+<tr><td>3</td><td>Mount (Siyi)</td></tr>
 </table>
 </ul>
 
@@ -7557,7 +7593,7 @@ <h2>RunCam device type (CAM_RC_TYPE)</h2>
 <tr><td>1</td><td>RunCam Split Micro/RunCam with UART</td></tr>
 <tr><td>2</td><td>RunCam Split</td></tr>
 <tr><td>3</td><td>RunCam Split4 4k</td></tr>
-<tr><td>4</td><td>RunCam Hybrid</td></tr>
+<tr><td>4</td><td>RunCam Hybrid/RunCam Thumb Pro</td></tr>
 </table>
 </ul>
 
@@ -9537,9 +9573,9 @@ <h2>DroneCAN driver number (DID_CANDRIVER)</h2>
 
 <h2>OpenDroneID options (DID_OPTIONS)</h2>
 
-<p>Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks</p>
+<p>Options for OpenDroneID subsystem</p>
 <ul>
-<li>Bitmask: 0:EnforceArming</li>
+<li>Bitmask: 0:EnforceArming, 1:AllowNonGPSPosition</li>
 </ul>
 
 
@@ -14689,6 +14725,7 @@ <h2>Mount Type (MNT1_TYPE)</h2>
 <tr><td>5</td><td>SToRM32 Serial</td></tr>
 <tr><td>6</td><td>Gremsy</td></tr>
 <tr><td>7</td><td>BrushlessPWM</td></tr>
+<tr><td>8</td><td>Siyi</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -14875,6 +14912,7 @@ <h2>Mount Type (MNT2_TYPE)</h2>
 <tr><td>5</td><td>SToRM32 Serial</td></tr>
 <tr><td>6</td><td>Gremsy</td></tr>
 <tr><td>7</td><td>BrushlessPWM</td></tr>
+<tr><td>8</td><td>Siyi</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -23948,7 +23986,7 @@ <h2>Precision Landing Extra Options (PLND_OPTIONS)</h2><em>Note: This parameter
 
 <p>Precision Landing Extra Options</p>
 <ul>
-<li>Bitmask: 0: Moving Landing Target</li>
+<li>Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition </li>
 </ul>
 
 
@@ -24847,7 +24885,7 @@ <h2>RC options (RC_OPTIONS)</h2><em>Note: This parameter is for advanced users</
 
 <p>RC input options</p>
 <ul>
-<li>Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:CRSF RSSI shows Link Quality</li>
+<li>Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 13: Use 420kbaud for ELRS protocol</li>
 </ul>
 
 
@@ -25005,6 +25043,10 @@ <h2>RC input option (RC10_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -25169,6 +25211,10 @@ <h2>RC input option (RC11_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -25333,6 +25379,10 @@ <h2>RC input option (RC12_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -25497,6 +25547,10 @@ <h2>RC input option (RC13_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -25661,6 +25715,10 @@ <h2>RC input option (RC14_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -25825,6 +25883,10 @@ <h2>RC input option (RC15_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -25989,6 +26051,10 @@ <h2>RC input option (RC16_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -26153,6 +26219,10 @@ <h2>RC input option (RC1_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -26317,6 +26387,10 @@ <h2>RC input option (RC2_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -26481,6 +26555,10 @@ <h2>RC input option (RC3_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -26645,6 +26723,10 @@ <h2>RC input option (RC4_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -26809,6 +26891,10 @@ <h2>RC input option (RC5_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -26973,6 +27059,10 @@ <h2>RC input option (RC6_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -27137,6 +27227,10 @@ <h2>RC input option (RC7_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -27301,6 +27395,10 @@ <h2>RC input option (RC8_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
@@ -27465,6 +27563,10 @@ <h2>RC input option (RC9_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>212</td><td>Mount1 Roll</td></tr>
 <tr><td>213</td><td>Mount1 Pitch</td></tr>
 <tr><td>214</td><td>Mount1 Yaw</td></tr>
diff --git a/Copter-4.3/Parameters.md b/Copter-4.3/Parameters.md
index 52a7f1f..9e77b29 100644
--- a/Copter-4.3/Parameters.md
+++ b/Copter-4.3/Parameters.md
@@ -3329,6 +3329,26 @@ User provided field elevation in meters. This is used to improve the calculation
 
 - Volatile: True
 
+## BARO_ALTERR_MAX: Altitude error maximum
+
+*Note: This parameter is for advanced users*
+
+This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.
+
+- Units: m
+
+- Increment: 1
+
+- Range: 0 5000
+
+## BARO_OPTIONS: Barometer options
+
+*Note: This parameter is for advanced users*
+
+Barometer options
+
+- Bitmask: 0:Treat MS5611 as MS5607
+
 # BARO1WCF Parameters
 
 ## BARO1_WCF_ENABLE: Wind coefficient enable
@@ -6364,12 +6384,13 @@ This allows selection of a PX4 or VRBRAIN board type. If set to zero then the bo
 
 *Note: This parameter is for advanced users*
 
-This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
+This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
 
 |Value|Meaning|
 |:---:|:---:|
 |0|Disabled|
 |1|Enabled|
+|2|EnableNoFWUpdate|
 
 - RebootRequired: True
 
@@ -6377,7 +6398,7 @@ This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
 
 This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
 
-- Bitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms
+- Bitmask: 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms
 
 ## BRD_VBUS_MIN: Autopilot board voltage requirement
 
@@ -6877,6 +6898,10 @@ Auxiliary RC Options function executed on pin change
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |212|Mount1 Roll|
 |213|Mount1 Pitch|
 |214|Mount1 Yaw|
@@ -6986,6 +7011,10 @@ Auxiliary RC Options function executed on pin change
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |212|Mount1 Roll|
 |213|Mount1 Pitch|
 |214|Mount1 Yaw|
@@ -7095,6 +7124,10 @@ Auxiliary RC Options function executed on pin change
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |212|Mount1 Roll|
 |213|Mount1 Pitch|
 |214|Mount1 Yaw|
@@ -7204,6 +7237,10 @@ Auxiliary RC Options function executed on pin change
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |212|Mount1 Roll|
 |213|Mount1 Pitch|
 |214|Mount1 Yaw|
@@ -7230,6 +7267,7 @@ how to trigger the camera to take a picture
 |0|Servo|
 |1|Relay|
 |2|GoPro in Solo Gimbal|
+|3|Mount (Siyi)|
 
 ## CAM_DURATION: Duration that shutter is held open
 
@@ -7343,7 +7381,7 @@ RunCam deviee type used to determine OSD menu structure and shutter options.
 |1|RunCam Split Micro/RunCam with UART|
 |2|RunCam Split|
 |3|RunCam Split4 4k|
-|4|RunCam Hybrid|
+|4|RunCam Hybrid/RunCam Thumb Pro|
 
 ## CAM_RC_FEATURES: RunCam features available
 
@@ -9300,9 +9338,9 @@ DroneCAN driver index, 0 to disable DroneCAN
 
 ## DID_OPTIONS: OpenDroneID options
 
-Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks
+Options for OpenDroneID subsystem
 
-- Bitmask: 0:EnforceArming
+- Bitmask: 0:EnforceArming, 1:AllowNonGPSPosition
 
 ## DID_BARO_ACC: Barometer vertical accuraacy
 
@@ -14658,6 +14696,7 @@ Mount Type
 |5|SToRM32 Serial|
 |6|Gremsy|
 |7|BrushlessPWM|
+|8|Siyi|
 
 - RebootRequired: True
 
@@ -14840,6 +14879,7 @@ Mount Type
 |5|SToRM32 Serial|
 |6|Gremsy|
 |7|BrushlessPWM|
+|8|Siyi|
 
 - RebootRequired: True
 
@@ -21939,7 +21979,7 @@ Vehicle will continue landing vertically until this height if target is not foun
 
 Precision Landing Extra Options
 
-- Bitmask: 0: Moving Landing Target
+- Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition 
 
 ## PLND_ORIENT: Camera Orientation
 
@@ -22796,7 +22836,7 @@ Timeout after which RC overrides will no longer be used, and RC input will resum
 
 RC input options
 
-- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:CRSF RSSI shows Link Quality
+- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 13: Use 420kbaud for ELRS protocol
 
 ## RC_PROTOCOLS: RC protocols enabled
 
@@ -22959,6 +22999,10 @@ Function assigned to this RC channel
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |212|Mount1 Roll|
 |213|Mount1 Pitch|
 |214|Mount1 Yaw|
diff --git a/Copter-4.3/Parameters.rst b/Copter-4.3/Parameters.rst
index c4fb6c4..05fb8f2 100644
--- a/Copter-4.3/Parameters.rst
+++ b/Copter-4.3/Parameters.rst
@@ -7337,6 +7337,49 @@ User provided field elevation in meters\. This is used to improve the calculatio
 
 
 
+.. _BARO_ALTERR_MAX:
+
+BARO\_ALTERR\_MAX: Altitude error maximum
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\.
+
+
++-----------+-----------+--------+
+| Increment | Range     | Units  |
++===========+===========+========+
+| 1         | 0 to 5000 | meters |
++-----------+-----------+--------+
+
+
+
+
+.. _BARO_OPTIONS:
+
+BARO\_OPTIONS: Barometer options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Barometer options
+
+
++----------------------------------+
+| Bitmask                          |
++==================================+
+| +-----+------------------------+ |
+| | Bit | Meaning                | |
+| +=====+========================+ |
+| | 0   | Treat MS5611 as MS5607 | |
+| +-----+------------------------+ |
+|                                  |
++----------------------------------+
+
+
+
+
 
 .. _parameters_BARO1_WCF_:
 
@@ -14371,21 +14414,23 @@ BRD\_IO\_ENABLE: Enable IO co\-processor
 | *Note: This parameter is for advanced users*
 | *Note: Reboot required after change*
 
-This allows for the IO co\-processor on FMUv1 and FMUv2 to be disabled
+This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
 
 
-+----------------------+
-| Values               |
-+======================+
-| +-------+----------+ |
-| | Value | Meaning  | |
-| +=======+==========+ |
-| | 0     | Disabled | |
-| +-------+----------+ |
-| | 1     | Enabled  | |
-| +-------+----------+ |
-|                      |
-+----------------------+
++------------------------------+
+| Values                       |
++==============================+
+| +-------+------------------+ |
+| | Value | Meaning          | |
+| +=======+==================+ |
+| | 0     | Disabled         | |
+| +-------+------------------+ |
+| | 1     | Enabled          | |
+| +-------+------------------+ |
+| | 2     | EnableNoFWUpdate | |
+| +-------+------------------+ |
+|                              |
++------------------------------+
 
 
 
@@ -14405,9 +14450,9 @@ This controls the activation of the safety button\. It allows you to control if
 | +-----+-------------------------------------------+ |
 | | Bit | Meaning                                   | |
 | +=====+===========================================+ |
-| | 0   | ActiveForSafetyEnable                     | |
+| | 0   | ActiveForSafetyDisable                    | |
 | +-----+-------------------------------------------+ |
-| | 1   | ActiveForSafetyDisable                    | |
+| | 1   | ActiveForSafetyEnable                     | |
 | +-----+-------------------------------------------+ |
 | | 2   | ActiveWhenArmed                           | |
 | +-----+-------------------------------------------+ |
@@ -15597,6 +15642,14 @@ Auxiliary RC Options function executed on pin change
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -15822,6 +15875,14 @@ Auxiliary RC Options function executed on pin change
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -16047,6 +16108,14 @@ Auxiliary RC Options function executed on pin change
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -16272,6 +16341,14 @@ Auxiliary RC Options function executed on pin change
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -16334,6 +16411,8 @@ how to trigger the camera to take a picture
 | +-------+----------------------+ |
 | | 2     | GoPro in Solo Gimbal | |
 | +-------+----------------------+ |
+| | 3     | Mount (Siyi)         | |
+| +-------+----------------------+ |
 |                                  |
 +----------------------------------+
 
@@ -16614,7 +16693,7 @@ RunCam deviee type used to determine OSD menu structure and shutter options\.
 | +-------+-------------------------------------+ |
 | | 3     | RunCam Split4 4k                    | |
 | +-------+-------------------------------------+ |
-| | 4     | RunCam Hybrid                       | |
+| | 4     | RunCam Hybrid/RunCam Thumb Pro      | |
 | +-------+-------------------------------------+ |
 |                                                 |
 +-------------------------------------------------+
@@ -21584,19 +21663,21 @@ DID\_OPTIONS: OpenDroneID options
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 
-Options for OpenDroneID subsystem\. Bit 0 means to enforce arming checks
+Options for OpenDroneID subsystem
 
 
-+-------------------------+
-| Bitmask                 |
-+=========================+
-| +-----+---------------+ |
-| | Bit | Meaning       | |
-| +=====+===============+ |
-| | 0   | EnforceArming | |
-| +-----+---------------+ |
-|                         |
-+-------------------------+
++-------------------------------+
+| Bitmask                       |
++===============================+
+| +-----+---------------------+ |
+| | Bit | Meaning             | |
+| +=====+=====================+ |
+| | 0   | EnforceArming       | |
+| +-----+---------------------+ |
+| | 1   | AllowNonGPSPosition | |
+| +-----+---------------------+ |
+|                               |
++-------------------------------+
 
 
 
@@ -32919,6 +33000,8 @@ Mount Type
 | +-------+-----------------+ |
 | | 7     | BrushlessPWM    | |
 | +-------+-----------------+ |
+| | 8     | Siyi            | |
+| +-------+-----------------+ |
 |                             |
 +-----------------------------+
 
@@ -33267,6 +33350,8 @@ Mount Type
 | +-------+-----------------+ |
 | | 7     | BrushlessPWM    | |
 | +-------+-----------------+ |
+| | 8     | Siyi            | |
+| +-------+-----------------+ |
 |                             |
 +-----------------------------+
 
@@ -52812,16 +52897,18 @@ PLND\_OPTIONS: Precision Landing Extra Options
 Precision Landing Extra Options
 
 
-+---------------------------------+
-| Bitmask                         |
-+=================================+
-| +-----+-----------------------+ |
-| | Bit | Meaning               | |
-| +=====+=======================+ |
-| | 0   | Moving Landing Target | |
-| +-----+-----------------------+ |
-|                                 |
-+---------------------------------+
++-----------------------------------------------------------+
+| Bitmask                                                   |
++===========================================================+
+| +-----+-------------------------------------------------+ |
+| | Bit | Meaning                                         | |
+| +=====+=================================================+ |
+| | 0   | Moving Landing Target                           | |
+| +-----+-------------------------------------------------+ |
+| | 1   | Allow Precision Landing after manual reposition | |
+| +-----+-------------------------------------------------+ |
+|                                                           |
++-----------------------------------------------------------+
 
 
 
@@ -54707,7 +54794,9 @@ RC input options
 | +-----+--------------------------------------------------------------------+ |
 | | 10  | Enable multiple receiver support                                   | |
 | +-----+--------------------------------------------------------------------+ |
-| | 11  | CRSF RSSI shows Link Quality                                       | |
+| | 11  | Use Link Quality for RSSI with CRSF                                | |
+| +-----+--------------------------------------------------------------------+ |
+| | 13  | Use 420kbaud for ELRS protocol                                     | |
 | +-----+--------------------------------------------------------------------+ |
 |                                                                              |
 +------------------------------------------------------------------------------+
@@ -55065,6 +55154,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -55399,6 +55496,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -55733,6 +55838,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -56067,6 +56180,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -56401,6 +56522,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -56735,6 +56864,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -57069,6 +57206,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -57403,6 +57548,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -57737,6 +57890,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -58071,6 +58232,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -58405,6 +58574,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -58739,6 +58916,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -59073,6 +59258,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -59407,6 +59600,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -59741,6 +59942,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
@@ -60075,6 +60284,14 @@ Function assigned to this RC channel
 | +-------+------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                 | |
 | +-------+------------------------------------------+ |
+| | 166   | Camera Record Video                      | |
+| +-------+------------------------------------------+ |
+| | 167   | Camera Zoom                              | |
+| +-------+------------------------------------------+ |
+| | 168   | Camera Manual Focus                      | |
+| +-------+------------------------------------------+ |
+| | 169   | Camera Auto Focus                        | |
+| +-------+------------------------------------------+ |
 | | 212   | Mount1 Roll                              | |
 | +-------+------------------------------------------+ |
 | | 213   | Mount1 Pitch                             | |
diff --git a/Copter-4.3/ParametersLatex.rst b/Copter-4.3/ParametersLatex.rst
index ebfc639..e4ac866 100644
--- a/Copter-4.3/ParametersLatex.rst
+++ b/Copter-4.3/ParametersLatex.rst
@@ -6995,6 +6995,44 @@ User provided field elevation in meters\. This is used to improve the calculatio
 
 
 
+.. _BARO_ALTERR_MAX:
+
+BARO\_ALTERR\_MAX: Altitude error maximum
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\.
+
+
++-----------+-----------+--------+
+| Increment | Range     | Units  |
++===========+===========+========+
+| 1         | 0 to 5000 | meters |
++-----------+-----------+--------+
+
+
+
+
+.. _BARO_OPTIONS:
+
+BARO\_OPTIONS: Barometer options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Barometer options
+
+
++-----+------------------------+
+| Bit | Meaning                |
++=====+========================+
+| 0   | Treat MS5611 as MS5607 |
++-----+------------------------+
+
+
+
+
 
 .. _parameters_BARO1_WCF_:
 
@@ -13559,16 +13597,18 @@ BRD\_IO\_ENABLE: Enable IO co\-processor
 | *Note: This parameter is for advanced users*
 | *Note: Reboot required after change*
 
-This allows for the IO co\-processor on FMUv1 and FMUv2 to be disabled
+This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
 
 
-+-------+----------+
-| Value | Meaning  |
-+=======+==========+
-| 0     | Disabled |
-+-------+----------+
-| 1     | Enabled  |
-+-------+----------+
++-------+------------------+
+| Value | Meaning          |
++=======+==================+
+| 0     | Disabled         |
++-------+------------------+
+| 1     | Enabled          |
++-------+------------------+
+| 2     | EnableNoFWUpdate |
++-------+------------------+
 
 
 
@@ -13585,9 +13625,9 @@ This controls the activation of the safety button\. It allows you to control if
 +-----+-------------------------------------------+
 | Bit | Meaning                                   |
 +=====+===========================================+
-| 0   | ActiveForSafetyEnable                     |
+| 0   | ActiveForSafetyDisable                    |
 +-----+-------------------------------------------+
-| 1   | ActiveForSafetyDisable                    |
+| 1   | ActiveForSafetyEnable                     |
 +-----+-------------------------------------------+
 | 2   | ActiveWhenArmed                           |
 +-----+-------------------------------------------+
@@ -14677,6 +14717,14 @@ Auxiliary RC Options function executed on pin change
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -14897,6 +14945,14 @@ Auxiliary RC Options function executed on pin change
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -15117,6 +15173,14 @@ Auxiliary RC Options function executed on pin change
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -15337,6 +15401,14 @@ Auxiliary RC Options function executed on pin change
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -15394,6 +15466,8 @@ how to trigger the camera to take a picture
 +-------+----------------------+
 | 2     | GoPro in Solo Gimbal |
 +-------+----------------------+
+| 3     | Mount (Siyi)         |
++-------+----------------------+
 
 
 
@@ -15644,7 +15718,7 @@ RunCam deviee type used to determine OSD menu structure and shutter options\.
 +-------+-------------------------------------+
 | 3     | RunCam Split4 4k                    |
 +-------+-------------------------------------+
-| 4     | RunCam Hybrid                       |
+| 4     | RunCam Hybrid/RunCam Thumb Pro      |
 +-------+-------------------------------------+
 
 
@@ -20366,14 +20440,16 @@ DID\_OPTIONS: OpenDroneID options
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 
-Options for OpenDroneID subsystem\. Bit 0 means to enforce arming checks
+Options for OpenDroneID subsystem
 
 
-+-----+---------------+
-| Bit | Meaning       |
-+=====+===============+
-| 0   | EnforceArming |
-+-----+---------------+
++-----+---------------------+
+| Bit | Meaning             |
++=====+=====================+
+| 0   | EnforceArming       |
++-----+---------------------+
+| 1   | AllowNonGPSPosition |
++-----+---------------------+
 
 
 
@@ -31063,6 +31139,8 @@ Mount Type
 +-------+-----------------+
 | 7     | BrushlessPWM    |
 +-------+-----------------+
+| 8     | Siyi            |
++-------+-----------------+
 
 
 
@@ -31401,6 +31479,8 @@ Mount Type
 +-------+-----------------+
 | 7     | BrushlessPWM    |
 +-------+-----------------+
+| 8     | Siyi            |
++-------+-----------------+
 
 
 
@@ -49479,11 +49559,13 @@ PLND\_OPTIONS: Precision Landing Extra Options
 Precision Landing Extra Options
 
 
-+-----+-----------------------+
-| Bit | Meaning               |
-+=====+=======================+
-| 0   | Moving Landing Target |
-+-----+-----------------------+
++-----+-------------------------------------------------+
+| Bit | Meaning                                         |
++=====+=================================================+
+| 0   | Moving Landing Target                           |
++-----+-------------------------------------------------+
+| 1   | Allow Precision Landing after manual reposition |
++-----+-------------------------------------------------+
 
 
 
@@ -51306,7 +51388,9 @@ RC input options
 +-----+--------------------------------------------------------------------+
 | 10  | Enable multiple receiver support                                   |
 +-----+--------------------------------------------------------------------+
-| 11  | CRSF RSSI shows Link Quality                                       |
+| 11  | Use Link Quality for RSSI with CRSF                                |
++-----+--------------------------------------------------------------------+
+| 13  | Use 420kbaud for ELRS protocol                                     |
 +-----+--------------------------------------------------------------------+
 
 
@@ -51649,6 +51733,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -51973,6 +52065,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -52297,6 +52397,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -52621,6 +52729,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -52945,6 +53061,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -53269,6 +53393,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -53593,6 +53725,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -53917,6 +54057,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -54241,6 +54389,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -54565,6 +54721,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -54889,6 +55053,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -55213,6 +55385,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -55537,6 +55717,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -55861,6 +56049,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -56185,6 +56381,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
@@ -56509,6 +56713,14 @@ Function assigned to this RC channel
 +-------+------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                 |
 +-------+------------------------------------------+
+| 166   | Camera Record Video                      |
++-------+------------------------------------------+
+| 167   | Camera Zoom                              |
++-------+------------------------------------------+
+| 168   | Camera Manual Focus                      |
++-------+------------------------------------------+
+| 169   | Camera Auto Focus                        |
++-------+------------------------------------------+
 | 212   | Mount1 Roll                              |
 +-------+------------------------------------------+
 | 213   | Mount1 Pitch                             |
diff --git a/Copter-4.3/apm.pdef.json b/Copter-4.3/apm.pdef.json
index b04c111..c850764 100644
--- a/Copter-4.3/apm.pdef.json
+++ b/Copter-4.3/apm.pdef.json
@@ -1827,6 +1827,17 @@
       "User": "Advanced",
       "Volatile": "True"
     },
+    "BARO_ALTERR_MAX": {
+      "Description": "This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.",
+      "DisplayName": "Altitude error maximum",
+      "Increment": "1",
+      "Range": {
+        "high": "5000",
+        "low": "0"
+      },
+      "Units": "m",
+      "User": "Advanced"
+    },
     "BARO_ALT_OFFSET": {
       "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.",
       "DisplayName": "altitude offset",
@@ -1870,6 +1881,14 @@
       "User": "Advanced",
       "Volatile": "True"
     },
+    "BARO_OPTIONS": {
+      "Bitmask": {
+        "0": "Treat MS5611 as MS5607"
+      },
+      "Description": "Barometer options",
+      "DisplayName": "Barometer options",
+      "User": "Advanced"
+    },
     "BARO_PRIMARY": {
       "Description": "This selects which barometer will be the primary if multiple barometers are found",
       "DisplayName": "Primary barometer",
@@ -4786,13 +4805,14 @@
       "User": "Advanced"
     },
     "BRD_IO_ENABLE": {
-      "Description": "This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled",
+      "Description": "This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup",
       "DisplayName": "Enable IO co-processor",
       "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "1": "Enabled",
+        "2": "EnableNoFWUpdate"
       }
     },
     "BRD_OPTIONS": {
@@ -4830,8 +4850,8 @@
     },
     "BRD_SAFETYOPTION": {
       "Bitmask": {
-        "0": "ActiveForSafetyEnable",
-        "1": "ActiveForSafetyDisable",
+        "0": "ActiveForSafetyDisable",
+        "1": "ActiveForSafetyEnable",
         "2": "ActiveWhenArmed",
         "3": "Force safety on when the aircraft disarms"
       },
@@ -5232,6 +5252,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -5341,6 +5365,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -5450,6 +5478,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -5559,6 +5591,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -5852,7 +5888,8 @@
       "Values": {
         "0": "Servo",
         "1": "Relay",
-        "2": "GoPro in Solo Gimbal"
+        "2": "GoPro in Solo Gimbal",
+        "3": "Mount (Siyi)"
       }
     },
     "CAM_TYPE": {
@@ -5916,7 +5953,7 @@
         "1": "RunCam Split Micro/RunCam with UART",
         "2": "RunCam Split",
         "3": "RunCam Split4 4k",
-        "4": "RunCam Hybrid"
+        "4": "RunCam Hybrid/RunCam Thumb Pro"
       }
     }
   },
@@ -9284,9 +9321,10 @@
     },
     "DID_OPTIONS": {
       "Bitmask": {
-        "0": "EnforceArming"
+        "0": "EnforceArming",
+        "1": "AllowNonGPSPosition"
       },
-      "Description": "Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks",
+      "Description": "Options for OpenDroneID subsystem",
       "DisplayName": "OpenDroneID options"
     }
   },
@@ -14504,7 +14542,8 @@
         "4": "SToRM32 MAVLink",
         "5": "SToRM32 Serial",
         "6": "Gremsy",
-        "7": "BrushlessPWM"
+        "7": "BrushlessPWM",
+        "8": "Siyi"
       }
     },
     "MNT1_YAW_MAX": {
@@ -14700,7 +14739,8 @@
         "4": "SToRM32 MAVLink",
         "5": "SToRM32 Serial",
         "6": "Gremsy",
-        "7": "BrushlessPWM"
+        "7": "BrushlessPWM",
+        "8": "Siyi"
       }
     },
     "MNT2_YAW_MAX": {
@@ -22587,7 +22627,8 @@
     },
     "PLND_OPTIONS": {
       "Bitmask": {
-        "0": "Moving Landing Target"
+        "0": "Moving Landing Target",
+        "1": "Allow Precision Landing after manual reposition"
       },
       "Description": "Precision Landing Extra Options",
       "DisplayName": "Precision Landing Extra Options",
@@ -23586,7 +23627,8 @@
         "0": "Ignore RC Receiver",
         "1": "Ignore MAVLink Overrides",
         "10": "Enable multiple receiver support",
-        "11": "CRSF RSSI shows Link Quality",
+        "11": "Use Link Quality for RSSI with CRSF",
+        "13": "Use 420kbaud for ELRS protocol",
         "2": "Ignore Receiver Failsafe bit but allow other RC failsafes if setup",
         "3": "FPort Pad",
         "4": "Log RC input bytes",
@@ -23692,6 +23734,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -23855,6 +23901,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -24018,6 +24068,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -24181,6 +24235,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -24344,6 +24402,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -24507,6 +24569,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -24670,6 +24736,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -24833,6 +24903,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -24996,6 +25070,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -25159,6 +25237,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -25322,6 +25404,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -25485,6 +25571,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -25648,6 +25738,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -25811,6 +25905,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -25974,6 +26072,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
@@ -26137,6 +26239,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "17": "AutoTune",
         "18": "Land",
         "19": "Gripper",
diff --git a/Copter-4.3/apm.pdef.xml b/Copter-4.3/apm.pdef.xml
index e54ac13..a459d10 100644
--- a/Copter-4.3/apm.pdef.xml
+++ b/Copter-4.3/apm.pdef.xml
@@ -1965,6 +1965,15 @@
         <field name="Increment">0.1</field>
         <field name="Volatile">True</field>
       </param>
+      <param humanName="Altitude error maximum" name="BARO_ALTERR_MAX" documentation="This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a &quot;Pixhawk&quot; with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 5000</field>
+      </param>
+      <param humanName="Barometer options" name="BARO_OPTIONS" documentation="Barometer options" user="Advanced">
+        <field name="Bitmask">0:Treat MS5611 as MS5607</field>
+      </param>
     </parameters>
     <parameters name="BARO1_WCF_">
       <param humanName="Wind coefficient enable" name="BARO1_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
@@ -3794,15 +3803,16 @@
         </values>
         <field name="RebootRequired">True</field>
       </param>
-      <param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
+      <param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup" user="Advanced">
         <values>
           <value code="0">Disabled</value>
           <value code="1">Enabled</value>
+          <value code="2">EnableNoFWUpdate</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
-        <field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
+        <field name="Bitmask">0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
       </param>
       <param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
         <field name="Units">V</field>
@@ -4110,6 +4120,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -4216,6 +4230,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -4322,6 +4340,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -4428,6 +4450,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -4451,6 +4477,7 @@
           <value code="0">Servo</value>
           <value code="1">Relay</value>
           <value code="2">GoPro in Solo Gimbal</value>
+          <value code="3">Mount (Siyi)</value>
         </values>
       </param>
       <param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
@@ -4527,7 +4554,7 @@
           <value code="1">RunCam Split Micro/RunCam with UART</value>
           <value code="2">RunCam Split</value>
           <value code="3">RunCam Split4 4k</value>
-          <value code="4">RunCam Hybrid</value>
+          <value code="4">RunCam Hybrid/RunCam Thumb Pro</value>
         </values>
       </param>
       <param humanName="RunCam features available" name="CAM_RC_FEATURES" documentation="The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used." user="Advanced">
@@ -5613,8 +5640,8 @@
           <value code="2">Driver2</value>
         </values>
       </param>
-      <param humanName="OpenDroneID options" name="DID_OPTIONS" documentation="Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks">
-        <field name="Bitmask">0:EnforceArming</field>
+      <param humanName="OpenDroneID options" name="DID_OPTIONS" documentation="Options for OpenDroneID subsystem">
+        <field name="Bitmask">0:EnforceArming, 1:AllowNonGPSPosition</field>
       </param>
       <param humanName="Barometer vertical accuraacy" name="DID_BARO_ACC" documentation="Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default" user="Advanced">
         <field name="Units">m</field>
@@ -8451,6 +8478,7 @@
           <value code="5">SToRM32 Serial</value>
           <value code="6">Gremsy</value>
           <value code="7">BrushlessPWM</value>
+          <value code="8">Siyi</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -8566,6 +8594,7 @@
           <value code="5">SToRM32 Serial</value>
           <value code="6">Gremsy</value>
           <value code="7">BrushlessPWM</value>
+          <value code="8">Siyi</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -12599,7 +12628,7 @@
         <field name="UnitText">meters</field>
       </param>
       <param humanName="Precision Landing Extra Options" name="PLND_OPTIONS" documentation="Precision Landing Extra Options" user="Advanced">
-        <field name="Bitmask">0: Moving Landing Target</field>
+        <field name="Bitmask">0: Moving Landing Target, 1: Allow Precision Landing after manual reposition </field>
       </param>
       <param humanName="Camera Orientation" name="PLND_ORIENT" documentation="Orientation of camera/sensor on body" user="Advanced">
         <values>
@@ -13100,7 +13129,7 @@
         <field name="UnitText">seconds</field>
       </param>
       <param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
-        <field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:CRSF RSSI shows Link Quality</field>
+        <field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 13: Use 420kbaud for ELRS protocol</field>
       </param>
       <param humanName="RC protocols enabled" name="RC_PROTOCOLS" documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols." user="Advanced">
         <field name="Bitmask">0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS</field>
@@ -13226,6 +13255,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -13363,6 +13396,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -13500,6 +13537,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -13637,6 +13678,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -13774,6 +13819,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -13911,6 +13960,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -14048,6 +14101,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -14185,6 +14242,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -14322,6 +14383,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -14459,6 +14524,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -14596,6 +14665,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -14733,6 +14806,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -14870,6 +14947,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -15007,6 +15088,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -15144,6 +15229,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
@@ -15281,6 +15370,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="212">Mount1 Roll</value>
           <value code="213">Mount1 Pitch</value>
           <value code="214">Mount1 Yaw</value>
diff --git a/Plane-4.1/ParameterMetaData.xml b/Plane-4.1/ParameterMetaData.xml
index 04ec41a..6d1e056 100644
--- a/Plane-4.1/ParameterMetaData.xml
+++ b/Plane-4.1/ParameterMetaData.xml
@@ -2091,7 +2091,7 @@
       <Values>0:Disabled,1:Enabled</Values>
     </BRD_IO_ENABLE>
     <BRD_OPTIONS>
-      <Bitmask>0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters</Bitmask>
+      <Bitmask>0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins</Bitmask>
       <Description>Board specific option flags</Description>
       <DisplayName>Board options</DisplayName>
       <User>Advanced</User>
@@ -2549,7 +2549,7 @@
       <DisplayName>Enable use of specific protocol over virtual driver</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Advanced</User>
-      <Values>0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN</Values>
+      <Values>0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN,11:Benewake</Values>
     </CAN_D1_PROTOCOL>
     <CAN_D1_TST_ID>
       <Description>Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.</Description>
@@ -2576,6 +2576,12 @@
       <Range>1 250</Range>
       <User>Advanced</User>
     </CAN_D1_UC_NODE>
+    <CAN_D1_UC_OPTION>
+      <Bitmask>0:ClearDNADatabase,1:IgnoreDNANodeConflicts</Bitmask>
+      <Description>Option flags</Description>
+      <DisplayName>UAVCAN options</DisplayName>
+      <User>Advanced</User>
+    </CAN_D1_UC_OPTION>
     <CAN_D1_UC_SRV_BM>
       <Bitmask>0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</Bitmask>
       <Description>Bitmask with one set for channel to be transmitted as a servo command over UAVCAN</Description>
@@ -2624,7 +2630,7 @@
       <DisplayName>Enable use of specific protocol over virtual driver</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Advanced</User>
-      <Values>0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN</Values>
+      <Values>0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN,11:Benewake</Values>
     </CAN_D2_PROTOCOL>
     <CAN_D2_TST_ID>
       <Description>Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.</Description>
@@ -2651,6 +2657,12 @@
       <Range>1 250</Range>
       <User>Advanced</User>
     </CAN_D2_UC_NODE>
+    <CAN_D2_UC_OPTION>
+      <Bitmask>0:ClearDNADatabase,1:IgnoreDNANodeConflicts</Bitmask>
+      <Description>Option flags</Description>
+      <DisplayName>UAVCAN options</DisplayName>
+      <User>Advanced</User>
+    </CAN_D2_UC_OPTION>
     <CAN_D2_UC_SRV_BM>
       <Bitmask>0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</Bitmask>
       <Description>Bitmask with one set for channel to be transmitted as a servo command over UAVCAN</Description>
@@ -2699,7 +2711,7 @@
       <DisplayName>Enable use of specific protocol over virtual driver</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Advanced</User>
-      <Values>0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN</Values>
+      <Values>0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN,11:Benewake</Values>
     </CAN_D3_PROTOCOL>
     <CAN_D3_TST_ID>
       <Description>Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.</Description>
@@ -2726,6 +2738,12 @@
       <Range>1 250</Range>
       <User>Advanced</User>
     </CAN_D3_UC_NODE>
+    <CAN_D3_UC_OPTION>
+      <Bitmask>0:ClearDNADatabase,1:IgnoreDNANodeConflicts</Bitmask>
+      <Description>Option flags</Description>
+      <DisplayName>UAVCAN options</DisplayName>
+      <User>Advanced</User>
+    </CAN_D3_UC_OPTION>
     <CAN_D3_UC_SRV_BM>
       <Bitmask>0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</Bitmask>
       <Description>Bitmask with one set for channel to be transmitted as a servo command over UAVCAN</Description>
@@ -4257,6 +4275,13 @@
       <Range>100 1000</Range>
       <User>Advanced</User>
     </EK3_POS_I_GATE>
+    <EK3_PRIMARY>
+      <Description>The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.</Description>
+      <DisplayName>Primary core number</DisplayName>
+      <Increment>1</Increment>
+      <Range>0 2</Range>
+      <User>Advanced</User>
+    </EK3_PRIMARY>
     <EK3_RNG_I_GATE>
       <Description>This sets the percentage 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>
       <DisplayName>Range finder measurement gate size</DisplayName>
@@ -4694,7 +4719,7 @@
       <User>Advanced</User>
     </FLAP_SLEWRATE>
     <FLIGHT_OPTIONS>
-      <Bitmask>0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor, 7:EnableDefaultAirspeed for takeoff</Bitmask>
+      <Bitmask>0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor, 7:EnableDefaultAirspeed for takeoff, 11:Disable suppression of fixed wing rate gains in ground mode</Bitmask>
       <Description>Flight mode specific options</Description>
       <DisplayName>Flight mode options</DisplayName>
       <User>Advanced</User>
@@ -13304,7 +13329,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC10_OPTION>
     <RC10_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13347,7 +13372,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC11_OPTION>
     <RC11_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13390,7 +13415,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC12_OPTION>
     <RC12_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13433,7 +13458,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC13_OPTION>
     <RC13_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13476,7 +13501,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC14_OPTION>
     <RC14_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13519,7 +13544,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC15_OPTION>
     <RC15_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13562,7 +13587,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC16_OPTION>
     <RC16_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13605,7 +13630,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC1_OPTION>
     <RC1_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13648,7 +13673,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC2_OPTION>
     <RC2_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13691,7 +13716,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC3_OPTION>
     <RC3_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13734,7 +13759,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC4_OPTION>
     <RC4_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13777,7 +13802,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC5_OPTION>
     <RC5_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13820,7 +13845,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC6_OPTION>
     <RC6_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13863,7 +13888,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC7_OPTION>
     <RC7_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13906,7 +13931,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC8_OPTION>
     <RC8_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13949,7 +13974,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,24:Auto Mission Reset,27:Retract Mount,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm,43:InvertedFlight,46:RC Override Enable,51:ModeManual,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,208:Flap,209:Forward Throttle,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC9_OPTION>
     <RC9_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -13998,7 +14023,7 @@
       <User>Advanced</User>
     </RCMAP_YAW>
     <RC_OPTIONS>
-      <Bitmask>0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems</Bitmask>
+      <Bitmask>0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection</Bitmask>
       <Description>RC input options</Description>
       <DisplayName>RC options</DisplayName>
       <User>Advanced</User>
@@ -14225,6 +14250,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFND1_PWRRNG>
+    <RNGFND1_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND1_RECV_ID>
     <RNGFND1_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -14238,6 +14269,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFND1_SCALING>
+    <RNGFND1_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND1_SNR_MIN>
     <RNGFND1_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -14248,7 +14285,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFND1_TYPE>
     <RNGFND1_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -14371,6 +14408,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFND2_PWRRNG>
+    <RNGFND2_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND2_RECV_ID>
     <RNGFND2_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -14384,6 +14427,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFND2_SCALING>
+    <RNGFND2_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND2_SNR_MIN>
     <RNGFND2_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -14394,7 +14443,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFND2_TYPE>
     <RNGFND2_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -14517,6 +14566,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFND3_PWRRNG>
+    <RNGFND3_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND3_RECV_ID>
     <RNGFND3_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -14530,6 +14585,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFND3_SCALING>
+    <RNGFND3_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND3_SNR_MIN>
     <RNGFND3_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -14540,7 +14601,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFND3_TYPE>
     <RNGFND3_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -14663,6 +14724,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFND4_PWRRNG>
+    <RNGFND4_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND4_RECV_ID>
     <RNGFND4_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -14676,6 +14743,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFND4_SCALING>
+    <RNGFND4_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND4_SNR_MIN>
     <RNGFND4_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -14686,7 +14759,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFND4_TYPE>
     <RNGFND4_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -14809,6 +14882,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFND5_PWRRNG>
+    <RNGFND5_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND5_RECV_ID>
     <RNGFND5_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -14822,6 +14901,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFND5_SCALING>
+    <RNGFND5_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND5_SNR_MIN>
     <RNGFND5_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -14832,7 +14917,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFND5_TYPE>
     <RNGFND5_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -14955,6 +15040,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFND6_PWRRNG>
+    <RNGFND6_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND6_RECV_ID>
     <RNGFND6_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -14968,6 +15059,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFND6_SCALING>
+    <RNGFND6_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND6_SNR_MIN>
     <RNGFND6_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -14978,7 +15075,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFND6_TYPE>
     <RNGFND6_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -15101,6 +15198,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFND7_PWRRNG>
+    <RNGFND7_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND7_RECV_ID>
     <RNGFND7_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -15114,6 +15217,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFND7_SCALING>
+    <RNGFND7_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND7_SNR_MIN>
     <RNGFND7_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -15124,7 +15233,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFND7_TYPE>
     <RNGFND7_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -15247,6 +15356,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFND8_PWRRNG>
+    <RNGFND8_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND8_RECV_ID>
     <RNGFND8_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -15260,6 +15375,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFND8_SCALING>
+    <RNGFND8_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND8_SNR_MIN>
     <RNGFND8_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -15270,7 +15391,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFND8_TYPE>
     <RNGFND8_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -15393,6 +15514,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFND9_PWRRNG>
+    <RNGFND9_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND9_RECV_ID>
     <RNGFND9_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -15406,6 +15533,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFND9_SCALING>
+    <RNGFND9_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFND9_SNR_MIN>
     <RNGFND9_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -15416,7 +15549,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFND9_TYPE>
     <RNGFND9_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -15539,6 +15672,12 @@
       <Units>m</Units>
       <User>Standard</User>
     </RNGFNDA_PWRRNG>
+    <RNGFNDA_RECV_ID>
+      <Description>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</Description>
+      <DisplayName>CAN receive ID</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFNDA_RECV_ID>
     <RNGFNDA_RMETRIC>
       <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>
       <DisplayName>Ratiometric</DisplayName>
@@ -15552,6 +15691,12 @@
       <Units>m/V</Units>
       <User>Standard</User>
     </RNGFNDA_SCALING>
+    <RNGFNDA_SNR_MIN>
+      <Description>Minimum signal strength (SNR) to accept distance</Description>
+      <DisplayName>Minimum signal strength</DisplayName>
+      <Range>0 65535</Range>
+      <User>Advanced</User>
+    </RNGFNDA_SNR_MIN>
     <RNGFNDA_STOP_PIN>
       <Description>Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.</Description>
       <DisplayName>Rangefinder stop pin</DisplayName>
@@ -15562,7 +15707,7 @@
       <Description>What type of rangefinder device that is connected</Description>
       <DisplayName>Rangefinder type</DisplayName>
       <User>Standard</User>
-      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL</Values>
+      <Values>0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,34:Benewake_CAN,100:SITL</Values>
     </RNGFNDA_TYPE>
     <RNGFNDA_WSP_AVG>
       <Description>Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement</Description>
@@ -15856,7 +16001,7 @@
       <DisplayName>Telem1 protocol selection</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio</Values>
+      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio,38:FETtecOneWire</Values>
     </SERIAL1_PROTOCOL>
     <SERIAL2_BAUD>
       <Description>The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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>
@@ -15876,7 +16021,7 @@
       <DisplayName>Telemetry 2 protocol selection</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio</Values>
+      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio,38:FETtecOneWire</Values>
     </SERIAL2_PROTOCOL>
     <SERIAL3_BAUD>
       <Description>The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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>
@@ -15896,7 +16041,7 @@
       <DisplayName>Serial 3 (GPS) protocol selection</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio</Values>
+      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio,38:FETtecOneWire</Values>
     </SERIAL3_PROTOCOL>
     <SERIAL4_BAUD>
       <Description>The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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>
@@ -15916,7 +16061,7 @@
       <DisplayName>Serial4 protocol selection</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio</Values>
+      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio,38:FETtecOneWire</Values>
     </SERIAL4_PROTOCOL>
     <SERIAL5_BAUD>
       <Description>The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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>
@@ -15936,7 +16081,7 @@
       <DisplayName>Serial5 protocol selection</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio</Values>
+      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio,38:FETtecOneWire</Values>
     </SERIAL5_PROTOCOL>
     <SERIAL6_BAUD>
       <Description>The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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>
@@ -15956,7 +16101,7 @@
       <DisplayName>Serial6 protocol selection</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio</Values>
+      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio,38:FETtecOneWire</Values>
     </SERIAL6_PROTOCOL>
     <SERIAL7_BAUD>
       <Description>The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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>
@@ -15976,7 +16121,7 @@
       <DisplayName>Serial7 protocol selection</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS</Values>
+      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio,38:FETtecOneWire</Values>
     </SERIAL7_PROTOCOL>
     <SERIAL8_BAUD>
       <Description>The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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>
@@ -15996,7 +16141,7 @@
       <DisplayName>Serial8 protocol selection</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS</Values>
+      <Values>-1:None,1:MAVLink1,2:MAVLink2,3:Frsky D,4:Frsky SPort,5:GPS,7:Alexmos Gimbal Serial,8:SToRM32 Gimbal Serial,9:Rangefinder,10:FrSky SPort Passthrough (OpenTX),11:Lidar360,13:Beacon,14:Volz servo out,15:SBus servo out,16:ESC Telemetry,17:Devo Telemetry,18:OpticalFlow,19:RobotisServo,20:NMEA Output,21:WindVane,22:SLCAN,23:RCIN,24:MegaSquirt EFI,25:LTM,26:RunCam,27:HottTelem,28:Scripting,29:Crossfire,30:Generator,31:Winch,32:MSP,33:DJI FPV,34:AirSpeed,35:ADSB,36:AHRS,37:SmartAudio,38:FETtecOneWire</Values>
     </SERIAL8_PROTOCOL>
     <SERIAL_PASS1>
       <Description>This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port</Description>
@@ -16685,6 +16830,25 @@
       <User>Advanced</User>
       <Values>0:1Khz,1:loop-rate,2:double loop-rate,3:triple loop-rate,4:quadruple loop rate</Values>
     </SERVO_DSHOT_RATE>
+    <SERVO_FTW_MASK>
+      <Bitmask>0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</Bitmask>
+      <Description>Servo channel mask specifying FETtec ESC output.</Description>
+      <DisplayName>Servo channel output bitmask</DisplayName>
+      <RebootRequired>True</RebootRequired>
+      <User>Standard</User>
+    </SERVO_FTW_MASK>
+    <SERVO_FTW_POLES>
+      <Description>Number of motor electrical poles</Description>
+      <DisplayName>Nr. electrical poles</DisplayName>
+      <Range>2 50</Range>
+      <User>Standard</User>
+    </SERVO_FTW_POLES>
+    <SERVO_FTW_RVMASK>
+      <Bitmask>0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</Bitmask>
+      <Description>Servo channel mask to reverse rotation of FETtec ESC outputs.</Description>
+      <DisplayName>Servo channel reverse rotation bitmask</DisplayName>
+      <User>Standard</User>
+    </SERVO_FTW_RVMASK>
     <SERVO_RATE>
       <Description>This sets the default output rate in Hz for all outputs.</Description>
       <DisplayName>Servo default output rate</DisplayName>
diff --git a/Plane-4.1/Parameters.html b/Plane-4.1/Parameters.html
index 39dbebb..ae7d104 100644
--- a/Plane-4.1/Parameters.html
+++ b/Plane-4.1/Parameters.html
@@ -1146,7 +1146,7 @@ <h2>Flight mode options (ArduPlane:FLIGHT_OPTIONS)</h2><em>Note: This parameter
 
 <p>Flight mode specific options</p>
 <ul>
-<li>Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor, 7:EnableDefaultAirspeed for takeoff</li>
+<li>Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor, 7:EnableDefaultAirspeed for takeoff, 11:Disable suppression of fixed wing rate gains in ground mode</li>
 </ul>
 
 
@@ -4855,7 +4855,7 @@ <h2>Board options (BRD_OPTIONS)</h2><em>Note: This parameter is for advanced use
 
 <p>Board specific option flags</p>
 <ul>
-<li>Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters</li>
+<li>Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins</li>
 </ul>
 
 
@@ -5690,6 +5690,7 @@ <h2>Enable use of specific protocol over virtual driver (CAN_D1_PROTOCOL)</h2><e
 <tr><td>5</td><td>CANTester</td></tr>
 <tr><td>8</td><td>KDECAN</td></tr>
 <tr><td>9</td><td>PacketDigitalCAN</td></tr>
+<tr><td>11</td><td>Benewake</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -5806,6 +5807,14 @@ <h2>Servo output rate (CAN_D1_UC_SRV_RT)</h2><em>Note: This parameter is for adv
 </ul>
 
 
+<h2>UAVCAN options (CAN_D1_UC_OPTION)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Option flags</p>
+<ul>
+<li>Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts</li>
+</ul>
+
+
 <h1>CAN_D2_ Parameters</h1>
 
 
@@ -5821,6 +5830,7 @@ <h2>Enable use of specific protocol over virtual driver (CAN_D2_PROTOCOL)</h2><e
 <tr><td>5</td><td>CANTester</td></tr>
 <tr><td>8</td><td>KDECAN</td></tr>
 <tr><td>9</td><td>PacketDigitalCAN</td></tr>
+<tr><td>11</td><td>Benewake</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -5937,6 +5947,14 @@ <h2>Servo output rate (CAN_D2_UC_SRV_RT)</h2><em>Note: This parameter is for adv
 </ul>
 
 
+<h2>UAVCAN options (CAN_D2_UC_OPTION)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Option flags</p>
+<ul>
+<li>Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts</li>
+</ul>
+
+
 <h1>CAN_D3_ Parameters</h1>
 
 
@@ -5952,6 +5970,7 @@ <h2>Enable use of specific protocol over virtual driver (CAN_D3_PROTOCOL)</h2><e
 <tr><td>5</td><td>CANTester</td></tr>
 <tr><td>8</td><td>KDECAN</td></tr>
 <tr><td>9</td><td>PacketDigitalCAN</td></tr>
+<tr><td>11</td><td>Benewake</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -6068,6 +6087,14 @@ <h2>Servo output rate (CAN_D3_UC_SRV_RT)</h2><em>Note: This parameter is for adv
 </ul>
 
 
+<h2>UAVCAN options (CAN_D3_UC_OPTION)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Option flags</p>
+<ul>
+<li>Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts</li>
+</ul>
+
+
 <h1>CAN_P1_ Parameters</h1>
 
 
@@ -8392,6 +8419,15 @@ <h2>Baro height ground effect dead zone (EK3_GND_EFF_DZ)</h2><em>Note: This para
 </ul>
 
 
+<h2>Primary core number (EK3_PRIMARY)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.</p>
+<ul>
+<li>Range: 0 2</li>
+<li>Increment: 1</li>
+</ul>
+
+
 <h1>EK3_SRC Parameters</h1>
 
 
@@ -22353,7 +22389,7 @@ <h2>RC options (RC_OPTIONS)</h2><em>Note: This parameter is for advanced users</
 
 <p>RC input options</p>
 <ul>
-<li>Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems</li>
+<li>Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection</li>
 </ul>
 
 
@@ -22473,6 +22509,8 @@ <h2>RC input option (RC10_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -22595,6 +22633,8 @@ <h2>RC input option (RC11_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -22717,6 +22757,8 @@ <h2>RC input option (RC12_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -22839,6 +22881,8 @@ <h2>RC input option (RC13_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -22961,6 +23005,8 @@ <h2>RC input option (RC14_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -23083,6 +23129,8 @@ <h2>RC input option (RC15_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -23205,6 +23253,8 @@ <h2>RC input option (RC16_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -23327,6 +23377,8 @@ <h2>RC input option (RC1_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -23449,6 +23501,8 @@ <h2>RC input option (RC2_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -23571,6 +23625,8 @@ <h2>RC input option (RC3_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -23693,6 +23749,8 @@ <h2>RC input option (RC4_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -23815,6 +23873,8 @@ <h2>RC input option (RC5_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -23937,6 +23997,8 @@ <h2>RC input option (RC6_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -24059,6 +24121,8 @@ <h2>RC input option (RC7_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -24181,6 +24245,8 @@ <h2>RC input option (RC8_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -24303,6 +24369,8 @@ <h2>RC input option (RC9_OPTION)</h2>
 <tr><td>102</td><td>Camera Mode Toggle</td></tr>
 <tr><td>105</td><td>GPS Disable Yaw</td></tr>
 <tr><td>106</td><td>Disable Airspeed Use</td></tr>
+<tr><td>107</td><td>EnableFixedWingAutotune</td></tr>
+<tr><td>108</td><td>ModeQRTL</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>300</td><td>Scripting1</td></tr>
@@ -24649,6 +24717,7 @@ <h2>Rangefinder type (RNGFND1_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -24881,6 +24950,22 @@ <h2>Baud rate (RNGFND1_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFND1_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFND1_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RNGFND2_ Parameters</h1>
 
 
@@ -24922,6 +25007,7 @@ <h2>Rangefinder type (RNGFND2_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -25154,6 +25240,22 @@ <h2>Baud rate (RNGFND2_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFND2_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFND2_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RNGFND3_ Parameters</h1>
 
 
@@ -25195,6 +25297,7 @@ <h2>Rangefinder type (RNGFND3_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -25427,6 +25530,22 @@ <h2>Baud rate (RNGFND3_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFND3_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFND3_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RNGFND4_ Parameters</h1>
 
 
@@ -25468,6 +25587,7 @@ <h2>Rangefinder type (RNGFND4_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -25700,6 +25820,22 @@ <h2>Baud rate (RNGFND4_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFND4_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFND4_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RNGFND5_ Parameters</h1>
 
 
@@ -25741,6 +25877,7 @@ <h2>Rangefinder type (RNGFND5_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -25973,6 +26110,22 @@ <h2>Baud rate (RNGFND5_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFND5_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFND5_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RNGFND6_ Parameters</h1>
 
 
@@ -26014,6 +26167,7 @@ <h2>Rangefinder type (RNGFND6_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -26246,6 +26400,22 @@ <h2>Baud rate (RNGFND6_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFND6_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFND6_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RNGFND7_ Parameters</h1>
 
 
@@ -26287,6 +26457,7 @@ <h2>Rangefinder type (RNGFND7_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -26519,6 +26690,22 @@ <h2>Baud rate (RNGFND7_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFND7_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFND7_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RNGFND8_ Parameters</h1>
 
 
@@ -26560,6 +26747,7 @@ <h2>Rangefinder type (RNGFND8_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -26792,6 +26980,22 @@ <h2>Baud rate (RNGFND8_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFND8_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFND8_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RNGFND9_ Parameters</h1>
 
 
@@ -26833,6 +27037,7 @@ <h2>Rangefinder type (RNGFND9_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -27065,6 +27270,22 @@ <h2>Baud rate (RNGFND9_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFND9_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFND9_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RNGFNDA_ Parameters</h1>
 
 
@@ -27106,6 +27327,7 @@ <h2>Rangefinder type (RNGFNDA_TYPE)</h2>
 <tr><td>31</td><td>GYUS42v2</td></tr>
 <tr><td>32</td><td>MSP</td></tr>
 <tr><td>33</td><td>USD1_CAN</td></tr>
+<tr><td>34</td><td>Benewake_CAN</td></tr>
 <tr><td>100</td><td>SITL</td></tr>
 </table>
 </ul>
@@ -27338,6 +27560,22 @@ <h2>Baud rate (RNGFNDA_WSP_BAUD)</h2><em>Note: This parameter is for advanced us
 </ul>
 
 
+<h2>CAN receive ID (RNGFNDA_RECV_ID)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>The receive ID of the CAN frames. A value of zero means all IDs are accepted.</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
+<h2>Minimum signal strength (RNGFNDA_SNR_MIN)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Minimum signal strength (SNR) to accept distance</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h1>RPM Parameters</h1>
 
 
@@ -27723,6 +27961,7 @@ <h2>Telem1 protocol selection (SERIAL1_PROTOCOL)</h2>
 <tr><td>35</td><td>ADSB</td></tr>
 <tr><td>36</td><td>AHRS</td></tr>
 <tr><td>37</td><td>SmartAudio</td></tr>
+<tr><td>38</td><td>FETtecOneWire</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -27793,6 +28032,7 @@ <h2>Telemetry 2 protocol selection (SERIAL2_PROTOCOL)</h2>
 <tr><td>35</td><td>ADSB</td></tr>
 <tr><td>36</td><td>AHRS</td></tr>
 <tr><td>37</td><td>SmartAudio</td></tr>
+<tr><td>38</td><td>FETtecOneWire</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -27863,6 +28103,7 @@ <h2>Serial 3 (GPS) protocol selection (SERIAL3_PROTOCOL)</h2>
 <tr><td>35</td><td>ADSB</td></tr>
 <tr><td>36</td><td>AHRS</td></tr>
 <tr><td>37</td><td>SmartAudio</td></tr>
+<tr><td>38</td><td>FETtecOneWire</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -27933,6 +28174,7 @@ <h2>Serial4 protocol selection (SERIAL4_PROTOCOL)</h2>
 <tr><td>35</td><td>ADSB</td></tr>
 <tr><td>36</td><td>AHRS</td></tr>
 <tr><td>37</td><td>SmartAudio</td></tr>
+<tr><td>38</td><td>FETtecOneWire</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -28003,6 +28245,7 @@ <h2>Serial5 protocol selection (SERIAL5_PROTOCOL)</h2>
 <tr><td>35</td><td>ADSB</td></tr>
 <tr><td>36</td><td>AHRS</td></tr>
 <tr><td>37</td><td>SmartAudio</td></tr>
+<tr><td>38</td><td>FETtecOneWire</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -28073,6 +28316,7 @@ <h2>Serial6 protocol selection (SERIAL6_PROTOCOL)</h2>
 <tr><td>35</td><td>ADSB</td></tr>
 <tr><td>36</td><td>AHRS</td></tr>
 <tr><td>37</td><td>SmartAudio</td></tr>
+<tr><td>38</td><td>FETtecOneWire</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -28239,6 +28483,8 @@ <h2>Serial7 protocol selection (SERIAL7_PROTOCOL)</h2>
 <tr><td>34</td><td>AirSpeed</td></tr>
 <tr><td>35</td><td>ADSB</td></tr>
 <tr><td>36</td><td>AHRS</td></tr>
+<tr><td>37</td><td>SmartAudio</td></tr>
+<tr><td>38</td><td>FETtecOneWire</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -28317,6 +28563,8 @@ <h2>Serial8 protocol selection (SERIAL8_PROTOCOL)</h2>
 <tr><td>34</td><td>AirSpeed</td></tr>
 <tr><td>35</td><td>ADSB</td></tr>
 <tr><td>36</td><td>AHRS</td></tr>
+<tr><td>37</td><td>SmartAudio</td></tr>
+<tr><td>38</td><td>FETtecOneWire</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -31096,6 +31344,34 @@ <h2>BLHeli bitmask of reversed channels (SERVO_BLH_RVMASK)</h2><em>Note: This pa
 </ul>
 
 
+<h1>SERVO_FTW_ Parameters</h1>
+
+
+<h2>Servo channel output bitmask (SERVO_FTW_MASK)</h2>
+
+<p>Servo channel mask specifying FETtec ESC output.</p>
+<ul>
+<li>Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</li>
+<li>RebootRequired: True</li>
+</ul>
+
+
+<h2>Servo channel reverse rotation bitmask (SERVO_FTW_RVMASK)</h2>
+
+<p>Servo channel mask to reverse rotation of FETtec ESC outputs.</p>
+<ul>
+<li>Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</li>
+</ul>
+
+
+<h2>Nr. electrical poles (SERVO_FTW_POLES)</h2>
+
+<p>Number of motor electrical poles</p>
+<ul>
+<li>Range: 2 50</li>
+</ul>
+
+
 <h1>SERVO_ROB_ Parameters</h1>
 
 
diff --git a/Plane-4.1/Parameters.md b/Plane-4.1/Parameters.md
index b39932e..dd06a9a 100644
--- a/Plane-4.1/Parameters.md
+++ b/Plane-4.1/Parameters.md
@@ -1117,7 +1117,7 @@ When the aircraft is within this altitude of the home waypoint, while disarmed i
 
 Flight mode specific options
 
-- Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor, 7:EnableDefaultAirspeed for takeoff
+- Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor, 7:EnableDefaultAirspeed for takeoff, 11:Disable suppression of fixed wing rate gains in ground mode
 
 ## TKOFF_ACCEL_CNT: Takeoff throttle acceleration count
 
@@ -4697,7 +4697,7 @@ This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.
 
 Board specific option flags
 
-- Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters
+- Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins
 
 ## BRD_BOOT_DELAY: Boot delay
 
@@ -5483,6 +5483,7 @@ Enabling this option starts selected protocol that will use this virtual driver
 |5|CANTester|
 |8|KDECAN|
 |9|PacketDigitalCAN|
+|11|Benewake|
 
 - RebootRequired: True
 
@@ -5594,6 +5595,14 @@ Maximum transmit rate for servo outputs
 
 - Units: Hz
 
+## CAN_D1_UC_OPTION: UAVCAN options
+
+*Note: This parameter is for advanced users*
+
+Option flags
+
+- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts
+
 # CAND2 Parameters
 
 ## CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver
@@ -5611,6 +5620,7 @@ Enabling this option starts selected protocol that will use this virtual driver
 |5|CANTester|
 |8|KDECAN|
 |9|PacketDigitalCAN|
+|11|Benewake|
 
 - RebootRequired: True
 
@@ -5722,6 +5732,14 @@ Maximum transmit rate for servo outputs
 
 - Units: Hz
 
+## CAN_D2_UC_OPTION: UAVCAN options
+
+*Note: This parameter is for advanced users*
+
+Option flags
+
+- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts
+
 # CAND3 Parameters
 
 ## CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver
@@ -5739,6 +5757,7 @@ Enabling this option starts selected protocol that will use this virtual driver
 |5|CANTester|
 |8|KDECAN|
 |9|PacketDigitalCAN|
+|11|Benewake|
 
 - RebootRequired: True
 
@@ -5850,6 +5869,14 @@ Maximum transmit rate for servo outputs
 
 - Units: Hz
 
+## CAN_D3_UC_OPTION: UAVCAN options
+
+*Note: This parameter is for advanced users*
+
+Option flags
+
+- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts
+
 # CANP1 Parameters
 
 ## CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface
@@ -8348,6 +8375,16 @@ This parameter sets the size of the dead zone that is applied to negative baro h
 
 - Increment: 0.5
 
+## EK3_PRIMARY: Primary core number
+
+*Note: This parameter is for advanced users*
+
+The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.
+
+- Range: 0 2
+
+- Increment: 1
+
 # EK3SRC Parameters
 
 ## EK3_SRC1_POSXY: Position Horizontal Source (Primary)
@@ -20351,7 +20388,7 @@ Timeout after which RC overrides will no longer be used, and RC input will resum
 
 RC input options
 
-- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems
+- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection
 
 ## RC_PROTOCOLS: RC protocols enabled
 
@@ -20476,6 +20513,8 @@ Function assigned to this RC channel
 |102|Camera Mode Toggle|
 |105|GPS Disable Yaw|
 |106|Disable Airspeed Use|
+|107|EnableFixedWingAutotune|
+|108|ModeQRTL|
 |208|Flap|
 |209|Forward Throttle|
 |300|Scripting1|
@@ -20810,6 +20849,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFND1_PIN: Rangefinder pin
@@ -21031,6 +21071,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFND1_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFND1_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RNGFND2 Parameters
 
 ## RNGFND2_TYPE: Rangefinder type
@@ -21072,6 +21128,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFND2_PIN: Rangefinder pin
@@ -21293,6 +21350,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFND2_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFND2_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RNGFND3 Parameters
 
 ## RNGFND3_TYPE: Rangefinder type
@@ -21334,6 +21407,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFND3_PIN: Rangefinder pin
@@ -21555,6 +21629,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFND3_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFND3_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RNGFND4 Parameters
 
 ## RNGFND4_TYPE: Rangefinder type
@@ -21596,6 +21686,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFND4_PIN: Rangefinder pin
@@ -21817,6 +21908,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFND4_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFND4_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RNGFND5 Parameters
 
 ## RNGFND5_TYPE: Rangefinder type
@@ -21858,6 +21965,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFND5_PIN: Rangefinder pin
@@ -22079,6 +22187,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFND5_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFND5_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RNGFND6 Parameters
 
 ## RNGFND6_TYPE: Rangefinder type
@@ -22120,6 +22244,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFND6_PIN: Rangefinder pin
@@ -22341,6 +22466,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFND6_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFND6_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RNGFND7 Parameters
 
 ## RNGFND7_TYPE: Rangefinder type
@@ -22382,6 +22523,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFND7_PIN: Rangefinder pin
@@ -22603,6 +22745,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFND7_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFND7_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RNGFND8 Parameters
 
 ## RNGFND8_TYPE: Rangefinder type
@@ -22644,6 +22802,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFND8_PIN: Rangefinder pin
@@ -22865,6 +23024,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFND8_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFND8_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RNGFND9 Parameters
 
 ## RNGFND9_TYPE: Rangefinder type
@@ -22906,6 +23081,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFND9_PIN: Rangefinder pin
@@ -23127,6 +23303,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFND9_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFND9_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RNGFNDA Parameters
 
 ## RNGFNDA_TYPE: Rangefinder type
@@ -23168,6 +23360,7 @@ What type of rangefinder device that is connected
 |31|GYUS42v2|
 |32|MSP|
 |33|USD1_CAN|
+|34|Benewake_CAN|
 |100|SITL|
 
 ## RNGFNDA_PIN: Rangefinder pin
@@ -23389,6 +23582,22 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+## RNGFNDA_RECV_ID: CAN receive ID
+
+*Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+
+- Range: 0 65535
+
+## RNGFNDA_SNR_MIN: Minimum signal strength
+
+*Note: This parameter is for advanced users*
+
+Minimum signal strength (SNR) to accept distance
+
+- Range: 0 65535
+
 # RPM Parameters
 
 ## RPM_TYPE: RPM type
@@ -23740,6 +23949,7 @@ Control what protocol to use on the Telem1 port. Note that the Frsky options req
 |35|ADSB|
 |36|AHRS|
 |37|SmartAudio|
+|38|FETtecOneWire|
 
 - RebootRequired: True
 
@@ -23807,6 +24017,7 @@ Control what protocol to use on the Telem2 port. Note that the Frsky options req
 |35|ADSB|
 |36|AHRS|
 |37|SmartAudio|
+|38|FETtecOneWire|
 
 - RebootRequired: True
 
@@ -23874,6 +24085,7 @@ Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky opt
 |35|ADSB|
 |36|AHRS|
 |37|SmartAudio|
+|38|FETtecOneWire|
 
 - RebootRequired: True
 
@@ -23941,6 +24153,7 @@ Control what protocol Serial4 port should be used for. Note that the Frsky optio
 |35|ADSB|
 |36|AHRS|
 |37|SmartAudio|
+|38|FETtecOneWire|
 
 - RebootRequired: True
 
@@ -24008,6 +24221,7 @@ Control what protocol Serial5 port should be used for. Note that the Frsky optio
 |35|ADSB|
 |36|AHRS|
 |37|SmartAudio|
+|38|FETtecOneWire|
 
 - RebootRequired: True
 
@@ -24075,6 +24289,7 @@ Control what protocol Serial6 port should be used for. Note that the Frsky optio
 |35|ADSB|
 |36|AHRS|
 |37|SmartAudio|
+|38|FETtecOneWire|
 
 - RebootRequired: True
 
@@ -24245,6 +24460,8 @@ Control what protocol Serial7 port should be used for. Note that the Frsky optio
 |34|AirSpeed|
 |35|ADSB|
 |36|AHRS|
+|37|SmartAudio|
+|38|FETtecOneWire|
 
 - RebootRequired: True
 
@@ -24321,6 +24538,8 @@ Control what protocol Serial8 port should be used for. Note that the Frsky optio
 |34|AirSpeed|
 |35|ADSB|
 |36|AHRS|
+|37|SmartAudio|
+|38|FETtecOneWire|
 
 - RebootRequired: True
 
@@ -24685,6 +24904,28 @@ Mask of channels which are reversed. This is used to configure ESCs in reversed
 
 - Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
 
+# SERVOFTW Parameters
+
+## SERVO_FTW_MASK: Servo channel output bitmask
+
+Servo channel mask specifying FETtec ESC output.
+
+- Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12
+
+- RebootRequired: True
+
+## SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask
+
+Servo channel mask to reverse rotation of FETtec ESC outputs.
+
+- Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12
+
+## SERVO_FTW_POLES: Nr. electrical poles
+
+Number of motor electrical poles
+
+- Range: 2 50
+
 # SERVOROB Parameters
 
 ## SERVO_ROB_POSMIN: Robotis servo position min
diff --git a/Plane-4.1/Parameters.rst b/Plane-4.1/Parameters.rst
index 5b42777..0b958d7 100644
--- a/Plane-4.1/Parameters.rst
+++ b/Plane-4.1/Parameters.rst
@@ -2455,6 +2455,8 @@ Flight mode specific options
 | +-----+-------------------------------------------------------------------------------------------------------------+ |
 | | 7   | EnableDefaultAirspeed for takeoff                                                                           | |
 | +-----+-------------------------------------------------------------------------------------------------------------+ |
+| | 11  | Disable suppression of fixed wing rate gains in ground mode                                                 | |
+| +-----+-------------------------------------------------------------------------------------------------------------+ |
 |                                                                                                                       |
 +-----------------------------------------------------------------------------------------------------------------------+
 
@@ -10395,6 +10397,8 @@ Board specific option flags
 | +-----+-----------------------------------+ |
 | | 2   | Enable set of internal parameters | |
 | +-----+-----------------------------------+ |
+| | 3   | Enable Debug Pins                 | |
+| +-----+-----------------------------------+ |
 |                                             |
 +---------------------------------------------+
 
@@ -12264,6 +12268,8 @@ Enabling this option starts selected protocol that will use this virtual driver
 |                | +-------+------------------+ |
 |                | | 9     | PacketDigitalCAN | |
 |                | +-------+------------------+ |
+|                | | 11    | Benewake         | |
+|                | +-------+------------------+ |
 |                |                              |
 +----------------+------------------------------+
 
@@ -12514,6 +12520,32 @@ Maximum transmit rate for servo outputs
 
 
 
+.. _CAN_D1_UC_OPTION:
+
+CAN\_D1\_UC\_OPTION: UAVCAN options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Option flags
+
+
++----------------------------------+
+| Bitmask                          |
++==================================+
+| +-----+------------------------+ |
+| | Bit | Meaning                | |
+| +=====+========================+ |
+| | 0   | ClearDNADatabase       | |
+| +-----+------------------------+ |
+| | 1   | IgnoreDNANodeConflicts | |
+| +-----+------------------------+ |
+|                                  |
++----------------------------------+
+
+
+
+
 
 .. _parameters_CAN_D2_:
 
@@ -12551,6 +12583,8 @@ Enabling this option starts selected protocol that will use this virtual driver
 |                | +-------+------------------+ |
 |                | | 9     | PacketDigitalCAN | |
 |                | +-------+------------------+ |
+|                | | 11    | Benewake         | |
+|                | +-------+------------------+ |
 |                |                              |
 +----------------+------------------------------+
 
@@ -12801,6 +12835,32 @@ Maximum transmit rate for servo outputs
 
 
 
+.. _CAN_D2_UC_OPTION:
+
+CAN\_D2\_UC\_OPTION: UAVCAN options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Option flags
+
+
++----------------------------------+
+| Bitmask                          |
++==================================+
+| +-----+------------------------+ |
+| | Bit | Meaning                | |
+| +=====+========================+ |
+| | 0   | ClearDNADatabase       | |
+| +-----+------------------------+ |
+| | 1   | IgnoreDNANodeConflicts | |
+| +-----+------------------------+ |
+|                                  |
++----------------------------------+
+
+
+
+
 
 .. _parameters_CAN_D3_:
 
@@ -12838,6 +12898,8 @@ Enabling this option starts selected protocol that will use this virtual driver
 |                | +-------+------------------+ |
 |                | | 9     | PacketDigitalCAN | |
 |                | +-------+------------------+ |
+|                | | 11    | Benewake         | |
+|                | +-------+------------------+ |
 |                |                              |
 +----------------+------------------------------+
 
@@ -13088,6 +13150,32 @@ Maximum transmit rate for servo outputs
 
 
 
+.. _CAN_D3_UC_OPTION:
+
+CAN\_D3\_UC\_OPTION: UAVCAN options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Option flags
+
+
++----------------------------------+
+| Bitmask                          |
++==================================+
+| +-----+------------------------+ |
+| | Bit | Meaning                | |
+| +=====+========================+ |
+| | 0   | ClearDNADatabase       | |
+| +-----+------------------------+ |
+| | 1   | IgnoreDNANodeConflicts | |
+| +-----+------------------------+ |
+|                                  |
++----------------------------------+
+
+
+
+
 
 .. _parameters_CAN_P1_:
 
@@ -18034,6 +18122,25 @@ This parameter sets the size of the dead zone that is applied to negative baro h
 
 
 
+.. _EK3_PRIMARY:
+
+EK3\_PRIMARY: Primary core number
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\.
+
+
++-----------+-------+
+| Increment | Range |
++===========+=======+
+| 1         | 0 - 2 |
++-----------+-------+
+
+
+
+
 
 .. _parameters_EK3_SRC:
 
@@ -48010,6 +48117,8 @@ RC input options
 | +-----+--------------------------------------------------------------------+ |
 | | 9   | Suppress CRSF mode/rate message for ELRS systems                   | |
 | +-----+--------------------------------------------------------------------+ |
+| | 10  | Enable RC Protocol re-detection                                    | |
+| +-----+--------------------------------------------------------------------+ |
 |                                                                              |
 +------------------------------------------------------------------------------+
 
@@ -48288,6 +48397,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -48538,6 +48651,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -48788,6 +48905,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -49038,6 +49159,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -49288,6 +49413,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -49538,6 +49667,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -49788,6 +49921,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -50038,6 +50175,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -50288,6 +50429,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -50538,6 +50683,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -50788,6 +50937,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -51038,6 +51191,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -51288,6 +51445,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -51538,6 +51699,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -51788,6 +51953,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -52038,6 +52207,10 @@ Function assigned to this RC channel
 | +-------+-----------------------------------+ |
 | | 106   | Disable Airspeed Use              | |
 | +-------+-----------------------------------+ |
+| | 107   | EnableFixedWingAutotune           | |
+| +-------+-----------------------------------+ |
+| | 108   | ModeQRTL                          | |
+| +-------+-----------------------------------+ |
 | | 208   | Flap                              | |
 | +-------+-----------------------------------+ |
 | | 209   | Forward Throttle                  | |
@@ -52747,6 +52920,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -53239,6 +53414,44 @@ Desired baud rate
 
 
 
+.. _RNGFND1_RECV_ID:
+
+RNGFND1\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFND1_SNR_MIN:
+
+RNGFND1\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RNGFND2_:
 
@@ -53327,6 +53540,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -53819,6 +54034,44 @@ Desired baud rate
 
 
 
+.. _RNGFND2_RECV_ID:
+
+RNGFND2\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFND2_SNR_MIN:
+
+RNGFND2\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RNGFND3_:
 
@@ -53907,6 +54160,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -54399,6 +54654,44 @@ Desired baud rate
 
 
 
+.. _RNGFND3_RECV_ID:
+
+RNGFND3\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFND3_SNR_MIN:
+
+RNGFND3\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RNGFND4_:
 
@@ -54487,6 +54780,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -54979,6 +55274,44 @@ Desired baud rate
 
 
 
+.. _RNGFND4_RECV_ID:
+
+RNGFND4\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFND4_SNR_MIN:
+
+RNGFND4\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RNGFND5_:
 
@@ -55067,6 +55400,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -55559,6 +55894,44 @@ Desired baud rate
 
 
 
+.. _RNGFND5_RECV_ID:
+
+RNGFND5\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFND5_SNR_MIN:
+
+RNGFND5\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RNGFND6_:
 
@@ -55647,6 +56020,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -56139,6 +56514,44 @@ Desired baud rate
 
 
 
+.. _RNGFND6_RECV_ID:
+
+RNGFND6\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFND6_SNR_MIN:
+
+RNGFND6\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RNGFND7_:
 
@@ -56227,6 +56640,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -56719,6 +57134,44 @@ Desired baud rate
 
 
 
+.. _RNGFND7_RECV_ID:
+
+RNGFND7\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFND7_SNR_MIN:
+
+RNGFND7\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RNGFND8_:
 
@@ -56807,6 +57260,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -57299,6 +57754,44 @@ Desired baud rate
 
 
 
+.. _RNGFND8_RECV_ID:
+
+RNGFND8\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFND8_SNR_MIN:
+
+RNGFND8\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RNGFND9_:
 
@@ -57387,6 +57880,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -57879,6 +58374,44 @@ Desired baud rate
 
 
 
+.. _RNGFND9_RECV_ID:
+
+RNGFND9\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFND9_SNR_MIN:
+
+RNGFND9\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RNGFNDA_:
 
@@ -57967,6 +58500,8 @@ What type of rangefinder device that is connected
 | +-------+------------------------+ |
 | | 33    | USD1_CAN               | |
 | +-------+------------------------+ |
+| | 34    | Benewake_CAN           | |
+| +-------+------------------------+ |
 | | 100   | SITL                   | |
 | +-------+------------------------+ |
 |                                    |
@@ -58459,6 +58994,44 @@ Desired baud rate
 
 
 
+.. _RNGFNDA_RECV_ID:
+
+RNGFNDA\_RECV\_ID: CAN receive ID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+The receive ID of the CAN frames\. A value of zero means all IDs are accepted\.
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
+.. _RNGFNDA_SNR_MIN:
+
+RNGFNDA\_SNR\_MIN: Minimum signal strength
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Minimum signal strength \(SNR\) to accept distance
+
+
++-----------+
+| Range     |
++===========+
+| 0 - 65535 |
++-----------+
+
+
+
+
 
 .. _parameters_RPM:
 
@@ -59272,6 +59845,8 @@ Control what protocol to use on the Telem1 port\. Note that the Frsky options re
 |                | +-------+----------------------------------+ |
 |                | | 37    | SmartAudio                       | |
 |                | +-------+----------------------------------+ |
+|                | | 38    | FETtecOneWire                    | |
+|                | +-------+----------------------------------+ |
 |                |                                              |
 +----------------+----------------------------------------------+
 
@@ -59416,6 +59991,8 @@ Control what protocol to use on the Telem2 port\. Note that the Frsky options re
 |                | +-------+----------------------------------+ |
 |                | | 37    | SmartAudio                       | |
 |                | +-------+----------------------------------+ |
+|                | | 38    | FETtecOneWire                    | |
+|                | +-------+----------------------------------+ |
 |                |                                              |
 +----------------+----------------------------------------------+
 
@@ -59560,6 +60137,8 @@ Control what protocol Serial 3 \(GPS\) should be used for\. Note that the Frsky
 |                | +-------+----------------------------------+ |
 |                | | 37    | SmartAudio                       | |
 |                | +-------+----------------------------------+ |
+|                | | 38    | FETtecOneWire                    | |
+|                | +-------+----------------------------------+ |
 |                |                                              |
 +----------------+----------------------------------------------+
 
@@ -59704,6 +60283,8 @@ Control what protocol Serial4 port should be used for\. Note that the Frsky opti
 |                | +-------+----------------------------------+ |
 |                | | 37    | SmartAudio                       | |
 |                | +-------+----------------------------------+ |
+|                | | 38    | FETtecOneWire                    | |
+|                | +-------+----------------------------------+ |
 |                |                                              |
 +----------------+----------------------------------------------+
 
@@ -59848,6 +60429,8 @@ Control what protocol Serial5 port should be used for\. Note that the Frsky opti
 |                | +-------+----------------------------------+ |
 |                | | 37    | SmartAudio                       | |
 |                | +-------+----------------------------------+ |
+|                | | 38    | FETtecOneWire                    | |
+|                | +-------+----------------------------------+ |
 |                |                                              |
 +----------------+----------------------------------------------+
 
@@ -59992,6 +60575,8 @@ Control what protocol Serial6 port should be used for\. Note that the Frsky opti
 |                | +-------+----------------------------------+ |
 |                | | 37    | SmartAudio                       | |
 |                | +-------+----------------------------------+ |
+|                | | 38    | FETtecOneWire                    | |
+|                | +-------+----------------------------------+ |
 |                |                                              |
 +----------------+----------------------------------------------+
 
@@ -60505,6 +61090,10 @@ Control what protocol Serial7 port should be used for\. Note that the Frsky opti
 |                | +-------+----------------------------------+ |
 |                | | 36    | AHRS                             | |
 |                | +-------+----------------------------------+ |
+|                | | 37    | SmartAudio                       | |
+|                | +-------+----------------------------------+ |
+|                | | 38    | FETtecOneWire                    | |
+|                | +-------+----------------------------------+ |
 |                |                                              |
 +----------------+----------------------------------------------+
 
@@ -60693,6 +61282,10 @@ Control what protocol Serial8 port should be used for\. Note that the Frsky opti
 |                | +-------+----------------------------------+ |
 |                | | 36    | AHRS                             | |
 |                | +-------+----------------------------------+ |
+|                | | 37    | SmartAudio                       | |
+|                | +-------+----------------------------------+ |
+|                | | 38    | FETtecOneWire                    | |
+|                | +-------+----------------------------------+ |
 |                |                                              |
 +----------------+----------------------------------------------+
 
@@ -66483,6 +67076,121 @@ Mask of channels which are reversed\. This is used to configure ESCs in reversed
 
 
 
+.. _parameters_SERVO_FTW_:
+
+SERVO\_FTW\_ Parameters
+-----------------------
+
+
+.. _SERVO_FTW_MASK:
+
+SERVO\_FTW\_MASK: Servo channel output bitmask
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Servo channel mask specifying FETtec ESC output\.
+
+
++-------------------+----------------+
+| Bitmask           | RebootRequired |
++===================+================+
+| +-----+---------+ | True           |
+| | Bit | Meaning | |                |
+| +=====+=========+ |                |
+| | 0   | SERVO1  | |                |
+| +-----+---------+ |                |
+| | 1   | SERVO2  | |                |
+| +-----+---------+ |                |
+| | 2   | SERVO3  | |                |
+| +-----+---------+ |                |
+| | 3   | SERVO4  | |                |
+| +-----+---------+ |                |
+| | 4   | SERVO5  | |                |
+| +-----+---------+ |                |
+| | 5   | SERVO6  | |                |
+| +-----+---------+ |                |
+| | 6   | SERVO7  | |                |
+| +-----+---------+ |                |
+| | 7   | SERVO8  | |                |
+| +-----+---------+ |                |
+| | 8   | SERVO9  | |                |
+| +-----+---------+ |                |
+| | 9   | SERVO10 | |                |
+| +-----+---------+ |                |
+| | 10  | SERVO11 | |                |
+| +-----+---------+ |                |
+| | 11  | SERVO12 | |                |
+| +-----+---------+ |                |
+|                   |                |
++-------------------+----------------+
+
+
+
+
+.. _SERVO_FTW_RVMASK:
+
+SERVO\_FTW\_RVMASK: Servo channel reverse rotation bitmask
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Servo channel mask to reverse rotation of FETtec ESC outputs\.
+
+
++-------------------+
+| Bitmask           |
++===================+
+| +-----+---------+ |
+| | Bit | Meaning | |
+| +=====+=========+ |
+| | 0   | SERVO1  | |
+| +-----+---------+ |
+| | 1   | SERVO2  | |
+| +-----+---------+ |
+| | 2   | SERVO3  | |
+| +-----+---------+ |
+| | 3   | SERVO4  | |
+| +-----+---------+ |
+| | 4   | SERVO5  | |
+| +-----+---------+ |
+| | 5   | SERVO6  | |
+| +-----+---------+ |
+| | 6   | SERVO7  | |
+| +-----+---------+ |
+| | 7   | SERVO8  | |
+| +-----+---------+ |
+| | 8   | SERVO9  | |
+| +-----+---------+ |
+| | 9   | SERVO10 | |
+| +-----+---------+ |
+| | 10  | SERVO11 | |
+| +-----+---------+ |
+| | 11  | SERVO12 | |
+| +-----+---------+ |
+|                   |
++-------------------+
+
+
+
+
+.. _SERVO_FTW_POLES:
+
+SERVO\_FTW\_POLES: Nr\. electrical poles
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Number of motor electrical poles
+
+
++--------+
+| Range  |
++========+
+| 2 - 50 |
++--------+
+
+
+
+
+
 .. _parameters_SERVO_ROB_:
 
 SERVO\_ROB\_ Parameters
diff --git a/Plane-4.1/apm.pdef.json b/Plane-4.1/apm.pdef.json
index 7ca1434..2695990 100644
--- a/Plane-4.1/apm.pdef.json
+++ b/Plane-4.1/apm.pdef.json
@@ -2981,7 +2981,8 @@
       "Bitmask": {
         "0": "Enable hardware watchdog",
         "1": "Disable MAVftp",
-        "2": "Enable set of internal parameters"
+        "2": "Enable set of internal parameters",
+        "3": "Enable Debug Pins"
       },
       "Description": "Board specific option flags",
       "DisplayName": "Board options",
@@ -3954,6 +3955,7 @@
       "Values": {
         "0": "Disabled",
         "1": "UAVCAN",
+        "11": "Benewake",
         "3": "ToshibaCAN",
         "4": "PiccoloCAN",
         "5": "CANTester",
@@ -4095,6 +4097,15 @@
       },
       "User": "Advanced"
     },
+    "CAN_D1_UC_OPTION": {
+      "Bitmask": {
+        "0": "ClearDNADatabase",
+        "1": "IgnoreDNANodeConflicts"
+      },
+      "Description": "Option flags",
+      "DisplayName": "UAVCAN options",
+      "User": "Advanced"
+    },
     "CAN_D1_UC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
@@ -4137,6 +4148,7 @@
       "Values": {
         "0": "Disabled",
         "1": "UAVCAN",
+        "11": "Benewake",
         "3": "ToshibaCAN",
         "4": "PiccoloCAN",
         "5": "CANTester",
@@ -4278,6 +4290,15 @@
       },
       "User": "Advanced"
     },
+    "CAN_D2_UC_OPTION": {
+      "Bitmask": {
+        "0": "ClearDNADatabase",
+        "1": "IgnoreDNANodeConflicts"
+      },
+      "Description": "Option flags",
+      "DisplayName": "UAVCAN options",
+      "User": "Advanced"
+    },
     "CAN_D2_UC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
@@ -4320,6 +4341,7 @@
       "Values": {
         "0": "Disabled",
         "1": "UAVCAN",
+        "11": "Benewake",
         "3": "ToshibaCAN",
         "4": "PiccoloCAN",
         "5": "CANTester",
@@ -4461,6 +4483,15 @@
       },
       "User": "Advanced"
     },
+    "CAN_D3_UC_OPTION": {
+      "Bitmask": {
+        "0": "ClearDNADatabase",
+        "1": "IgnoreDNANodeConflicts"
+      },
+      "Description": "Option flags",
+      "DisplayName": "UAVCAN options",
+      "User": "Advanced"
+    },
     "CAN_D3_UC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
@@ -5810,18 +5841,6 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "EK2_GSF_DELAY": {
-      "Description": "If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK2_GSF_DELAY milli-seconds, then the EKF2 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.",
-      "DisplayName": "Delay from loss of navigation to yaw reset",
-      "Increment": "100",
-      "Range": {
-        "high": "5000",
-        "low": "500"
-      },
-      "RebootRequired": "True",
-      "Units": "ms",
-      "User": "Advanced"
-    },
     "EK2_GSF_RST_MAX": {
       "Description": "Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.",
       "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed",
@@ -6469,18 +6488,6 @@
       "DisplayName": "GPS preflight check",
       "User": "Advanced"
     },
-    "EK3_GSF_DELAY": {
-      "Description": "If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK3_GSF_DELAY milli-seconds, then the EKF3 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.",
-      "DisplayName": "Delay from loss of navigation to yaw reset",
-      "Increment": "100",
-      "Range": {
-        "high": "5000",
-        "low": "500"
-      },
-      "RebootRequired": "True",
-      "Units": "ms",
-      "User": "Advanced"
-    },
     "EK3_GSF_RST_MAX": {
       "Description": "Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.",
       "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed",
@@ -6720,6 +6727,16 @@
       },
       "User": "Advanced"
     },
+    "EK3_PRIMARY": {
+      "Description": "The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.",
+      "DisplayName": "Primary core number",
+      "Increment": "1",
+      "Range": {
+        "high": "2",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "EK3_RNG_I_GATE": {
       "Description": "This sets the percentage 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.",
       "DisplayName": "Range finder measurement gate size",
@@ -6742,7 +6759,7 @@
       "User": "Advanced"
     },
     "EK3_RNG_USE_HGT": {
-      "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK3_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.",
+      "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.",
       "DisplayName": "Range finder switch height percentage",
       "Increment": "1",
       "Range": {
@@ -6854,7 +6871,7 @@
       "DisplayName": "Height rate to wind process noise scaler",
       "Increment": "0.1",
       "Range": {
-        "high": "1.0",
+        "high": "2.0",
         "low": "0.0"
       },
       "User": "Advanced"
@@ -6864,7 +6881,7 @@
       "DisplayName": "Wind velocity process noise (m/s^2)",
       "Increment": "0.1",
       "Range": {
-        "high": "1.0",
+        "high": "2.0",
         "low": "0.01"
       },
       "Units": "m/s/s",
@@ -7671,7 +7688,8 @@
     "GPS_DRV_OPTIONS": {
       "Bitmask": {
         "0": "Use UART2 for moving baseline on ublox",
-        "1": "Use base station for GPS yaw on SBF"
+        "1": "Use base station for GPS yaw on SBF",
+        "2": "Use baudrate 115200"
       },
       "Description": "Additional backend specific options",
       "DisplayName": "driver options",
@@ -18129,11 +18147,13 @@
       "Bitmask": {
         "0": "Rudder mixing in direct flight modes only (Manual / Stabilize / Acro)",
         "1": "Use centered throttle in Cruise or FBWB to indicate trim airspeed",
+        "11": "Disable suppression of fixed wing rate gains in ground mode",
         "2": "Disable attitude check for takeoff arming",
         "3": "Force target airspeed to trim airspeed in Cruise or FBWB",
         "4": "Climb to ALT_HOLD_RTL before turning for RTL",
         "5": "Enable yaw damper in acro mode",
-        "6": "Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor."
+        "6": "Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor",
+        "7": "EnableDefaultAirspeed for takeoff"
       },
       "Description": "Flight mode specific options",
       "DisplayName": "Flight mode options",
@@ -18606,6 +18626,7 @@
         "15": "ARM/DISARM",
         "19": "IMU_RAW",
         "2": "GPS",
+        "20": "ATTITUDE_FULLRATE",
         "3": "PM",
         "4": "CTUN",
         "5": "NTUN",
@@ -18641,6 +18662,36 @@
       "DisplayName": "Manual R/C pass-through mask",
       "User": "Advanced"
     },
+    "MAN_EXPO_PITCH": {
+      "Description": "Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes",
+      "DisplayName": "Manual input expo for pitch",
+      "Increment": "1",
+      "Range": {
+        "high": "100",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "MAN_EXPO_ROLL": {
+      "Description": "Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes",
+      "DisplayName": "Manual control expo for roll",
+      "Increment": "1",
+      "Range": {
+        "high": "100",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "MAN_EXPO_RUDDER": {
+      "Description": "Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes",
+      "DisplayName": "Manual input expo for rudder",
+      "Increment": "1",
+      "Range": {
+        "high": "100",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
     "MIN_GNDSPD_CM": {
       "Description": "Minimum ground speed in cm/s when under airspeed control",
       "DisplayName": "Minimum ground speed",
@@ -18675,6 +18726,28 @@
         "1": "L1Controller"
       }
     },
+    "ONESHOT_MASK": {
+      "Bitmask": {
+        "0": "Servo 1",
+        "1": "Servo 2",
+        "10": "Servo 11",
+        "11": "Servo 12",
+        "12": "Servo 13",
+        "13": "Servo 14",
+        "14": "Servo 15",
+        "2": "Servo 3",
+        "3": "Servo 4",
+        "4": "Servo 5",
+        "5": "Servo 6",
+        "6": "Servo 7",
+        "7": "Servo 8",
+        "8": "Servo 9",
+        "9": "Servo 10"
+      },
+      "Description": "Mask of output channels to use oneshot on",
+      "DisplayName": "Oneshot output mask",
+      "User": "Advanced"
+    },
     "OVERRIDE_CHAN": {
       "Description": "If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels.",
       "DisplayName": "IO override channel",
@@ -20833,6 +20906,28 @@
       "Units": "deg",
       "User": "Advanced"
     },
+    "Q_P_JERK_XY": {
+      "Description": "Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target",
+      "DisplayName": "Jerk limit for the horizontal kinematic input shaping",
+      "Increment": "1",
+      "Range": {
+        "high": "20",
+        "low": "1"
+      },
+      "Units": "m/s/s/s",
+      "User": "Advanced"
+    },
+    "Q_P_JERK_Z": {
+      "Description": "Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target",
+      "DisplayName": "Jerk limit for the vertical kinematic input shaping",
+      "Increment": "1",
+      "Range": {
+        "high": "50",
+        "low": "5"
+      },
+      "Units": "m/s/s/s",
+      "User": "Advanced"
+    },
     "Q_P_POSXY_P": {
       "Description": "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",
       "DisplayName": "Position (horizontal) controller P gain",
@@ -20851,28 +20946,6 @@
       },
       "User": "Standard"
     },
-    "Q_P_TC_XY": {
-      "Description": "Time constant of the horizontal kinimatic path generation used to determine how quickly the aircraft varies the acceleration target",
-      "DisplayName": "Time constant for the horizontal kinimatic input shaping",
-      "Increment": "0.01",
-      "Range": {
-        "high": "2",
-        "low": "0.25"
-      },
-      "Units": "s",
-      "User": "Advanced"
-    },
-    "Q_P_TC_Z": {
-      "Description": "Time constant of the vertical kinimatic path generation used to determine how quickly the aircraft varies the acceleration target",
-      "DisplayName": "Time constant for the vertical kinimatic input shaping",
-      "Increment": "0.01",
-      "Range": {
-        "high": "1",
-        "low": "0.1"
-      },
-      "Units": "s",
-      "User": "Advanced"
-    },
     "Q_P_VELXY_D": {
       "Description": "Velocity (horizontal) D gain.  Corrects short-term changes in velocity",
       "DisplayName": "Velocity (horizontal) D gain",
@@ -20883,16 +20956,6 @@
       },
       "User": "Advanced"
     },
-    "Q_P_VELXY_D_FILT": {
-      "Description": "Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term",
-      "DisplayName": "Velocity (horizontal) input filter",
-      "Range": {
-        "high": "100",
-        "low": "0"
-      },
-      "Units": "Hz",
-      "User": "Advanced"
-    },
     "Q_P_VELXY_FF": {
       "Description": "Velocity (horizontal) feed forward gain.  Converts the difference between desired velocity to a target acceleration",
       "DisplayName": "Velocity (horizontal) feed forward gain",
@@ -20903,7 +20966,17 @@
       },
       "User": "Advanced"
     },
-    "Q_P_VELXY_FILT": {
+    "Q_P_VELXY_FLTD": {
+      "Description": "Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term",
+      "DisplayName": "Velocity (horizontal) input filter",
+      "Range": {
+        "high": "100",
+        "low": "0"
+      },
+      "Units": "Hz",
+      "User": "Advanced"
+    },
+    "Q_P_VELXY_FLTE": {
       "Description": "Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms",
       "DisplayName": "Velocity (horizontal) input filter",
       "Range": {
@@ -21043,7 +21116,7 @@
         "high": "20",
         "low": "1"
       },
-      "Units": "m/s/s",
+      "Units": "m/s/s/s",
       "User": "Standard"
     },
     "Q_WP_RADIUS": {
@@ -21098,6 +21171,16 @@
       },
       "Units": "cm/s",
       "User": "Standard"
+    },
+    "Q_WP_TER_MARGIN": {
+      "Description": "Waypoint Terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)",
+      "DisplayName": "Waypoint Terrain following altitude margin",
+      "Range": {
+        "high": "100",
+        "low": "0.1"
+      },
+      "Units": "m",
+      "User": "Advanced"
     }
   },
   "RALLY_": {
@@ -21128,13 +21211,15 @@
       "Bitmask": {
         "0": "Ignore RC Receiver",
         "1": "Ignore MAVLink Overrides",
+        "10": "Enable RC Protocol re-detection",
         "2": "Ignore Receiver Failsafe bit but allow other RC failsafes if setup",
         "3": "FPort Pad",
         "4": "Log RC input bytes",
         "5": "Arming check throttle for 0 input",
         "6": "Skip the arming check for neutral Roll/Pitch/Yay sticks",
         "7": "Allow Switch reverse",
-        "8": "Use passthrough for CRSF telemetry"
+        "8": "Use passthrough for CRSF telemetry",
+        "9": "Suppress CRSF mode/rate message for ELRS systems"
       },
       "Description": "RC input options",
       "DisplayName": "RC options",
@@ -21215,6 +21300,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -21336,6 +21423,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -21457,6 +21546,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -21578,6 +21669,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -21699,6 +21792,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -21820,6 +21915,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -21941,6 +22038,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -22062,6 +22161,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -22183,6 +22284,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -22304,6 +22407,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -22425,6 +22530,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -22546,6 +22653,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -22667,6 +22776,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -22788,6 +22899,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -22909,6 +23022,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -23030,6 +23145,8 @@
         "102": "Camera Mode Toggle",
         "105": "GPS Disable Yaw",
         "106": "Disable Airspeed Use",
+        "107": "EnableFixedWingAutotune",
+        "108": "ModeQRTL",
         "11": "Fence",
         "16": "ModeAuto",
         "208": "Flap",
@@ -23525,6 +23642,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND1_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND1_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -23541,6 +23667,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND1_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND1_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -23595,6 +23730,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -23786,6 +23922,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND2_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND2_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -23802,6 +23947,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND2_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND2_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -23856,6 +24010,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -24047,6 +24202,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND3_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND3_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -24063,6 +24227,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND3_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND3_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -24117,6 +24290,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -24308,6 +24482,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND4_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND4_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -24324,6 +24507,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND4_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND4_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -24378,6 +24570,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -24569,6 +24762,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND5_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND5_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -24585,6 +24787,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND5_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND5_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -24639,6 +24850,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -24830,6 +25042,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND6_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND6_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -24846,6 +25067,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND6_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND6_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -24900,6 +25130,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -25091,6 +25322,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND7_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND7_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -25107,6 +25347,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND7_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND7_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -25161,6 +25410,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -25352,6 +25602,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND8_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND8_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -25368,6 +25627,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND8_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND8_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -25422,6 +25690,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -25613,6 +25882,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND9_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND9_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -25629,6 +25907,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND9_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND9_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -25683,6 +25970,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -25874,6 +26162,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFNDA_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFNDA_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -25890,6 +26187,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFNDA_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFNDA_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -25944,6 +26250,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -26337,6 +26644,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26388,6 +26696,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26422,6 +26731,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26473,6 +26783,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26507,6 +26818,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26558,6 +26870,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26592,6 +26905,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26643,6 +26957,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26677,6 +26992,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26728,6 +27044,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26762,6 +27079,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26813,6 +27131,7 @@
         "35": "ADSB",
         "36": "AHRS",
         "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26847,6 +27166,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26897,6 +27217,8 @@
         "34": "AirSpeed",
         "35": "ADSB",
         "36": "AHRS",
+        "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -26905,7 +27227,7 @@
       }
     },
     "SERIAL8_BAUD": {
-      "Description": "The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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": "The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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.",
       "DisplayName": "Serial 8 Baud Rate",
       "User": "Standard",
       "Values": {
@@ -26931,6 +27253,7 @@
         "0": "InvertRX",
         "1": "InvertTX",
         "10": "Don't forward mavlink to/from",
+        "11": "DisableFIFO",
         "2": "HalfDuplex",
         "3": "Swap",
         "4": "RX_PullDown",
@@ -26981,6 +27304,8 @@
         "34": "AirSpeed",
         "35": "ADSB",
         "36": "AHRS",
+        "37": "SmartAudio",
+        "38": "FETtecOneWire",
         "4": "Frsky SPort",
         "5": "GPS",
         "7": "Alexmos Gimbal Serial",
@@ -29784,6 +30109,56 @@
       "User": "Standard"
     }
   },
+  "SERVO_FTW_": {
+    "SERVO_FTW_MASK": {
+      "Bitmask": {
+        "0": "SERVO1",
+        "1": "SERVO2",
+        "10": "SERVO11",
+        "11": "SERVO12",
+        "2": "SERVO3",
+        "3": "SERVO4",
+        "4": "SERVO5",
+        "5": "SERVO6",
+        "6": "SERVO7",
+        "7": "SERVO8",
+        "8": "SERVO9",
+        "9": "SERVO10"
+      },
+      "Description": "Servo channel mask specifying FETtec ESC output.",
+      "DisplayName": "Servo channel output bitmask",
+      "RebootRequired": "True",
+      "User": "Standard"
+    },
+    "SERVO_FTW_POLES": {
+      "Description": "Number of motor electrical poles",
+      "DisplayName": "Nr. electrical poles",
+      "Range": {
+        "high": "50",
+        "low": "2"
+      },
+      "User": "Standard"
+    },
+    "SERVO_FTW_RVMASK": {
+      "Bitmask": {
+        "0": "SERVO1",
+        "1": "SERVO2",
+        "10": "SERVO11",
+        "11": "SERVO12",
+        "2": "SERVO3",
+        "3": "SERVO4",
+        "4": "SERVO5",
+        "5": "SERVO6",
+        "6": "SERVO7",
+        "7": "SERVO8",
+        "8": "SERVO9",
+        "9": "SERVO10"
+      },
+      "Description": "Servo channel mask to reverse rotation of FETtec ESC outputs.",
+      "DisplayName": "Servo channel reverse rotation bitmask",
+      "User": "Standard"
+    }
+  },
   "SERVO_ROB_": {
     "SERVO_ROB_POSMAX": {
       "Description": "Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095",
diff --git a/Plane-4.1/apm.pdef.xml b/Plane-4.1/apm.pdef.xml
index 6f364cb..98563e7 100644
--- a/Plane-4.1/apm.pdef.xml
+++ b/Plane-4.1/apm.pdef.xml
@@ -586,7 +586,7 @@
         <field name="ReadOnly">True</field>
       </param>
       <param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535" user="Advanced">
-        <field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW</field>
+        <field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW,20:ATTITUDE_FULLRATE</field>
       </param>
       <param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Target airspeed in cm/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed." user="Standard">
         <field name="Units">cm/s</field>
@@ -696,7 +696,7 @@
         <field name="UnitText">meters</field>
       </param>
       <param humanName="Flight mode options" name="ArduPlane:FLIGHT_OPTIONS" documentation="Flight mode specific options" user="Advanced">
-        <field name="Bitmask">0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor.</field>
+        <field name="Bitmask">0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor, 7:EnableDefaultAirspeed for takeoff, 11:Disable suppression of fixed wing rate gains in ground mode</field>
       </param>
       <param humanName="Takeoff throttle acceleration count" name="ArduPlane:TKOFF_ACCEL_CNT" documentation="This is the number of acceleration events to require for arming with TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require more forward/backward movements to arm." user="Standard">
         <field name="Range">1 10</field>
@@ -761,6 +761,21 @@
         <field name="Range">0 30</field>
         <field name="Increment">1</field>
       </param>
+      <param humanName="Manual control expo for roll" name="ArduPlane:MAN_EXPO_ROLL" documentation="Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes" user="Standard">
+        <field name="Range">0 100</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Manual input expo for pitch" name="ArduPlane:MAN_EXPO_PITCH" documentation="Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes" user="Standard">
+        <field name="Range">0 100</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Manual input expo for rudder" name="ArduPlane:MAN_EXPO_RUDDER" documentation="Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes" user="Standard">
+        <field name="Range">0 100</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Oneshot output mask" name="ArduPlane:ONESHOT_MASK" documentation="Mask of output channels to use oneshot on" user="Advanced">
+        <field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+      </param>
     </parameters>
   </vehicles>
   <libraries>
@@ -2812,7 +2827,7 @@
         </values>
       </param>
       <param humanName="Board options" name="BRD_OPTIONS" documentation="Board specific option flags" user="Advanced">
-        <field name="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters</field>
+        <field name="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins</field>
       </param>
       <param humanName="Boot delay" name="BRD_BOOT_DELAY" documentation="This adds a delay in milliseconds to boot to ensure peripherals initialise fully" user="Advanced">
         <field name="Range">0 10000</field>
@@ -3357,6 +3372,7 @@
           <value code="5">CANTester</value>
           <value code="8">KDECAN</value>
           <value code="9">PacketDigitalCAN</value>
+          <value code="11">Benewake</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -3416,6 +3432,9 @@
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
       </param>
+      <param humanName="UAVCAN options" name="CAN_D1_UC_OPTION" documentation="Option flags" user="Advanced">
+        <field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+      </param>
     </parameters>
     <parameters name="CAN_D2_">
       <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
@@ -3427,6 +3446,7 @@
           <value code="5">CANTester</value>
           <value code="8">KDECAN</value>
           <value code="9">PacketDigitalCAN</value>
+          <value code="11">Benewake</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -3486,6 +3506,9 @@
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
       </param>
+      <param humanName="UAVCAN options" name="CAN_D2_UC_OPTION" documentation="Option flags" user="Advanced">
+        <field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+      </param>
     </parameters>
     <parameters name="CAN_D3_">
       <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
@@ -3497,6 +3520,7 @@
           <value code="5">CANTester</value>
           <value code="8">KDECAN</value>
           <value code="9">PacketDigitalCAN</value>
+          <value code="11">Benewake</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -3556,6 +3580,9 @@
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
       </param>
+      <param humanName="UAVCAN options" name="CAN_D3_UC_OPTION" documentation="Option flags" user="Advanced">
+        <field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+      </param>
     </parameters>
     <parameters name="CAN_P1_">
       <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -4498,13 +4525,6 @@
         <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
         <field name="RebootRequired">True</field>
       </param>
-      <param humanName="Delay from loss of navigation to yaw reset" name="EK2_GSF_DELAY" documentation="If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK2_GSF_DELAY milli-seconds, then the EKF2 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter." user="Advanced">
-        <field name="Range">500 5000</field>
-        <field name="Increment">100</field>
-        <field name="Units">ms</field>
-        <field name="UnitText">milliseconds</field>
-        <field name="RebootRequired">True</field>
-      </param>
       <param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK2_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter." user="Advanced">
         <field name="Range">1 10</field>
         <field name="Increment">1</field>
@@ -4656,13 +4676,13 @@
         <field name="UnitText">meters per cubic second</field>
       </param>
       <param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-        <field name="Range">0.01 1.0</field>
+        <field name="Range">0.01 2.0</field>
         <field name="Increment">0.1</field>
         <field name="Units">m/s/s</field>
         <field name="UnitText">meters per square second</field>
       </param>
       <param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-        <field name="Range">0.0 1.0</field>
+        <field name="Range">0.0 2.0</field>
         <field name="Increment">0.1</field>
       </param>
       <param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
@@ -4712,7 +4732,7 @@
         <field name="Units">Gauss/s</field>
         <field name="UnitText">gauss per second</field>
       </param>
-      <param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK3_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
+      <param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
         <field name="Range">-1 70</field>
         <field name="Increment">1</field>
         <field name="Units">%</field>
@@ -4804,13 +4824,6 @@
         <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
         <field name="RebootRequired">True</field>
       </param>
-      <param humanName="Delay from loss of navigation to yaw reset" name="EK3_GSF_DELAY" documentation="If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK3_GSF_DELAY milli-seconds, then the EKF3 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter." user="Advanced">
-        <field name="Range">500 5000</field>
-        <field name="Increment">100</field>
-        <field name="Units">ms</field>
-        <field name="UnitText">milliseconds</field>
-        <field name="RebootRequired">True</field>
-      </param>
       <param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK3_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter." user="Advanced">
         <field name="Range">1 10</field>
         <field name="Increment">1</field>
@@ -4854,6 +4867,10 @@
         <field name="Range">0.0 10.0</field>
         <field name="Increment">0.5</field>
       </param>
+      <param humanName="Primary core number" name="EK3_PRIMARY" documentation="The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK." user="Advanced">
+        <field name="Range">0 2</field>
+        <field name="Increment">1</field>
+      </param>
     </parameters>
     <parameters name="EK3_SRC">
       <param humanName="Position Horizontal Source (Primary)" name="EK3_SRC1_POSXY" documentation="Position Horizontal Source (Primary)" user="Advanced">
@@ -5503,7 +5520,7 @@
         <field name="Range">5.0 30.0</field>
       </param>
       <param humanName="driver options" name="GPS_DRV_OPTIONS" documentation="Additional backend specific options" user="Advanced">
-        <field name="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF</field>
+        <field name="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200</field>
       </param>
       <param humanName="GPS physical COM port" name="GPS_COM_PORT" documentation="The physical COM port on the connected device, currently only applies to SBF GPS" user="Advanced">
         <field name="Range">0 10</field>
@@ -11465,12 +11482,12 @@
         <field name="Units">cm/s/s</field>
         <field name="UnitText">centimeters per square second</field>
       </param>
-      <param humanName="Velocity (horizontal) input filter" name="Q_P_VELXY_FILT" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
+      <param humanName="Velocity (horizontal) input filter" name="Q_P_VELXY_FLTE" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
         <field name="Range">0 100</field>
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
       </param>
-      <param humanName="Velocity (horizontal) input filter" name="Q_P_VELXY_D_FILT" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term" user="Advanced">
+      <param humanName="Velocity (horizontal) input filter" name="Q_P_VELXY_FLTD" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term" user="Advanced">
         <field name="Range">0 100</field>
         <field name="Units">Hz</field>
         <field name="UnitText">hertz</field>
@@ -11485,17 +11502,17 @@
         <field name="Range">0 45</field>
         <field name="Increment">1</field>
       </param>
-      <param humanName="Time constant for the horizontal kinimatic input shaping" name="Q_P_TC_XY" documentation="Time constant of the horizontal kinimatic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
-        <field name="Units">s</field>
-        <field name="UnitText">seconds</field>
-        <field name="Range">0.25 2</field>
-        <field name="Increment">0.01</field>
+      <param humanName="Jerk limit for the horizontal kinematic input shaping" name="Q_P_JERK_XY" documentation="Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
+        <field name="Range">1 20</field>
+        <field name="Increment">1</field>
       </param>
-      <param humanName="Time constant for the vertical kinimatic input shaping" name="Q_P_TC_Z" documentation="Time constant of the vertical kinimatic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
-        <field name="Units">s</field>
-        <field name="UnitText">seconds</field>
-        <field name="Range">0.1 1</field>
-        <field name="Increment">0.01</field>
+      <param humanName="Jerk limit for the vertical kinematic input shaping" name="Q_P_JERK_Z" documentation="Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
+        <field name="Range">5 50</field>
+        <field name="Increment">1</field>
       </param>
     </parameters>
     <parameters name="Q_WP_">
@@ -11542,10 +11559,15 @@
         </values>
       </param>
       <param humanName="Waypoint Jerk" name="Q_WP_JERK" documentation="Defines the horizontal jerk in m/s/s used during missions" user="Standard">
-        <field name="Units">m/s/s</field>
-        <field name="UnitText">meters per square second</field>
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
         <field name="Range">1 20</field>
       </param>
+      <param humanName="Waypoint Terrain following altitude margin" name="Q_WP_TER_MARGIN" documentation="Waypoint Terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)" user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0.1 100</field>
+      </param>
     </parameters>
     <parameters name="RALLY_">
       <param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
@@ -11569,7 +11591,7 @@
         <field name="UnitText">seconds</field>
       </param>
       <param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
-        <field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry</field>
+        <field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection</field>
       </param>
       <param humanName="RC protocols enabled" name="RC_PROTOCOLS" documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols." user="Advanced">
         <field name="Bitmask">0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2</field>
@@ -11657,6 +11679,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -11752,6 +11776,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -11847,6 +11873,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -11942,6 +11970,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12037,6 +12067,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12132,6 +12164,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12227,6 +12261,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12322,6 +12358,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12417,6 +12455,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12512,6 +12552,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12607,6 +12649,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12702,6 +12746,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12797,6 +12843,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12892,6 +12940,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -12987,6 +13037,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -13082,6 +13134,8 @@
           <value code="102">Camera Mode Toggle</value>
           <value code="105">GPS Disable Yaw</value>
           <value code="106">Disable Airspeed Use</value>
+          <value code="107">EnableFixedWingAutotune</value>
+          <value code="108">ModeQRTL</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="300">Scripting1</value>
@@ -13314,6 +13368,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -13448,6 +13503,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND1_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND1_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND2_">
       <param humanName="Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -13485,6 +13546,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -13619,6 +13681,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND2_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND2_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND3_">
       <param humanName="Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -13656,6 +13724,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -13790,6 +13859,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND3_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND3_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND4_">
       <param humanName="Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -13827,6 +13902,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -13961,6 +14037,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND4_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND4_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND5_">
       <param humanName="Rangefinder type" name="RNGFND5_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -13998,6 +14080,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14132,6 +14215,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND5_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND5_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND6_">
       <param humanName="Rangefinder type" name="RNGFND6_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14169,6 +14258,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14303,6 +14393,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND6_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND6_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND7_">
       <param humanName="Rangefinder type" name="RNGFND7_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14340,6 +14436,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14474,6 +14571,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND7_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND7_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND8_">
       <param humanName="Rangefinder type" name="RNGFND8_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14511,6 +14614,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14645,6 +14749,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND8_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND8_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND9_">
       <param humanName="Rangefinder type" name="RNGFND9_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14682,6 +14792,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14816,6 +14927,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND9_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND9_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFNDA_">
       <param humanName="Rangefinder type" name="RNGFNDA_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -14853,6 +14970,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -14987,6 +15105,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFNDA_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFNDA_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RPM">
       <param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
@@ -15218,6 +15342,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15278,6 +15403,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15338,6 +15464,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15398,6 +15525,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15458,6 +15586,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15518,6 +15647,7 @@
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
           <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15541,27 +15671,27 @@
         </values>
       </param>
       <param humanName="Telem1 options" name="SERIAL1_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Telem2 options" name="SERIAL2_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial3 options" name="SERIAL3_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial4 options" name="SERIAL4_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial5 options" name="SERIAL5_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial6 options" name="SERIAL6_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial passthru first port" name="SERIAL_PASS1" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
@@ -15630,6 +15760,8 @@
           <value code="34">AirSpeed</value>
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -15653,7 +15785,7 @@
         </values>
       </param>
       <param humanName="Serial7 options" name="SERIAL7_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Serial8 protocol selection" name="SERIAL8_PROTOCOL" documentation="Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
@@ -15693,10 +15825,12 @@
           <value code="34">AirSpeed</value>
           <value code="35">ADSB</value>
           <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
-      <param humanName="Serial 8 Baud Rate" name="SERIAL8_BAUD" documentation="The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+      <param humanName="Serial 8 Baud Rate" name="SERIAL8_BAUD" documentation="The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
         <values>
           <value code="1">1200</value>
           <value code="2">2400</value>
@@ -15716,7 +15850,7 @@
         </values>
       </param>
       <param humanName="Serial8 options" name="SERIAL8_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
         <field name="RebootRequired">True</field>
       </param>
     </parameters>
@@ -18014,6 +18148,18 @@
         <field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
       </param>
     </parameters>
+    <parameters name="SERVO_FTW_">
+      <param humanName="Servo channel output bitmask" name="SERVO_FTW_MASK" documentation="Servo channel mask specifying FETtec ESC output." user="Standard">
+        <field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Servo channel reverse rotation bitmask" name="SERVO_FTW_RVMASK" documentation="Servo channel mask to reverse rotation of FETtec ESC outputs." user="Standard">
+        <field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
+      </param>
+      <param humanName="Nr. electrical poles" name="SERVO_FTW_POLES" documentation="Number of motor electrical poles" user="Standard">
+        <field name="Range">2 50</field>
+      </param>
+    </parameters>
     <parameters name="SERVO_ROB_">
       <param humanName="Robotis servo position min" name="SERVO_ROB_POSMIN" documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
         <field name="Range">0 4095</field>
diff --git a/Plane-4.3/ParameterMetaData.xml b/Plane-4.3/ParameterMetaData.xml
index d0348d2..d26507a 100644
--- a/Plane-4.3/ParameterMetaData.xml
+++ b/Plane-4.3/ParameterMetaData.xml
@@ -816,6 +816,14 @@
       <Range>-1.0 1.0</Range>
       <User>Advanced</User>
     </BARO3_WCF_RGT>
+    <BARO_ALTERR_MAX>
+      <Description>This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.</Description>
+      <DisplayName>Altitude error maximum</DisplayName>
+      <Increment>1</Increment>
+      <Range>0 5000</Range>
+      <Units>m</Units>
+      <User>Advanced</User>
+    </BARO_ALTERR_MAX>
     <BARO_ALT_OFFSET>
       <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>
       <DisplayName>altitude offset</DisplayName>
@@ -852,6 +860,12 @@
       <User>Advanced</User>
       <Volatile>True</Volatile>
     </BARO_GND_TEMP>
+    <BARO_OPTIONS>
+      <Bitmask>0:Treat MS5611 as MS5607</Bitmask>
+      <Description>Barometer options</Description>
+      <DisplayName>Barometer options</DisplayName>
+      <User>Advanced</User>
+    </BARO_OPTIONS>
     <BARO_PRIMARY>
       <Description>This selects which barometer will be the primary if multiple barometers are found</Description>
       <DisplayName>Primary barometer</DisplayName>
@@ -2616,11 +2630,11 @@
       <User>Advanced</User>
     </BRD_HEAT_TARG>
     <BRD_IO_ENABLE>
-      <Description>This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled</Description>
+      <Description>This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup</Description>
       <DisplayName>Enable IO co-processor</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Advanced</User>
-      <Values>0:Disabled,1:Enabled</Values>
+      <Values>0:Disabled,1:Enabled,2:EnableNoFWUpdate</Values>
     </BRD_IO_ENABLE>
     <BRD_OPTIONS>
       <Bitmask>0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot</Bitmask>
@@ -2755,7 +2769,7 @@
       <Values>0:Disabled,1:Enabled</Values>
     </BRD_SAFETYENABLE>
     <BRD_SAFETYOPTION>
-      <Bitmask>0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</Bitmask>
+      <Bitmask>0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</Bitmask>
       <Description>This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed</Description>
       <DisplayName>Options for safety button behavior</DisplayName>
       <User>Standard</User>
@@ -2855,25 +2869,25 @@
       <Description>Auxiliary RC Options function executed on pin change</Description>
       <DisplayName>Button Pin 1 RC Channel function</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </BTN_FUNC1>
     <BTN_FUNC2>
       <Description>Auxiliary RC Options function executed on pin change</Description>
       <DisplayName>Button Pin 2 RC Channel function</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </BTN_FUNC2>
     <BTN_FUNC3>
       <Description>Auxiliary RC Options function executed on pin change</Description>
       <DisplayName>Button Pin 3 RC Channel function</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </BTN_FUNC3>
     <BTN_FUNC4>
       <Description>Auxiliary RC Options function executed on pin change</Description>
       <DisplayName>Button Pin 4 RC Channel function</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </BTN_FUNC4>
     <BTN_OPTIONS1>
       <Bitmask>0:PWM Input,1:InvertInput</Bitmask>
@@ -2998,7 +3012,7 @@
     <CAM_RC_TYPE>
       <Description>RunCam deviee type used to determine OSD menu structure and shutter options.</Description>
       <DisplayName>RunCam device type</DisplayName>
-      <Values>0:Disabled,1:RunCam Split Micro/RunCam with UART,2:RunCam Split,3:RunCam Split4 4k,4:RunCam Hybrid</Values>
+      <Values>0:Disabled,1:RunCam Split Micro/RunCam with UART,2:RunCam Split,3:RunCam Split4 4k,4:RunCam Hybrid/RunCam Thumb Pro</Values>
     </CAM_RC_TYPE>
     <CAM_RELAY_ON>
       <Description>This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera</Description>
@@ -3031,7 +3045,7 @@
       <Description>how to trigger the camera to take a picture</Description>
       <DisplayName>Camera shutter (trigger) type</DisplayName>
       <User>Standard</User>
-      <Values>0:Servo,1:Relay,2:GoPro in Solo Gimbal</Values>
+      <Values>0:Servo,1:Relay,2:GoPro in Solo Gimbal,3:Mount (Siyi)</Values>
     </CAM_TRIGG_TYPE>
     <CAM_TYPE>
       <Description>Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.</Description>
@@ -4171,8 +4185,8 @@
       <Values>-1:Disabled,0:Serial0,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6</Values>
     </DID_MAVPORT>
     <DID_OPTIONS>
-      <Bitmask>0:EnforceArming</Bitmask>
-      <Description>Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks</Description>
+      <Bitmask>0:EnforceArming, 1:AllowNonGPSPosition</Bitmask>
+      <Description>Options for OpenDroneID subsystem</Description>
       <DisplayName>OpenDroneID options</DisplayName>
     </DID_OPTIONS>
     <DSPOILER_AILMTCH>
@@ -7871,7 +7885,7 @@
       <DisplayName>Mount Type</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>0:None,1:Servo,2:3DR Solo,3:Alexmos Serial,4:SToRM32 MAVLink,5:SToRM32 Serial,6:Gremsy,7:BrushlessPWM</Values>
+      <Values>0:None,1:Servo,2:3DR Solo,3:Alexmos Serial,4:SToRM32 MAVLink,5:SToRM32 Serial,6:Gremsy,7:BrushlessPWM,8:Siyi</Values>
     </MNT1_TYPE>
     <MNT1_YAW_MAX>
       <Description>Mount Yaw angle maximum</Description>
@@ -8004,7 +8018,7 @@
       <DisplayName>Mount Type</DisplayName>
       <RebootRequired>True</RebootRequired>
       <User>Standard</User>
-      <Values>0:None,1:Servo,2:3DR Solo,3:Alexmos Serial,4:SToRM32 MAVLink,5:SToRM32 Serial,6:Gremsy,7:BrushlessPWM</Values>
+      <Values>0:None,1:Servo,2:3DR Solo,3:Alexmos Serial,4:SToRM32 MAVLink,5:SToRM32 Serial,6:Gremsy,7:BrushlessPWM,8:Siyi</Values>
     </MNT2_TYPE>
     <MNT2_YAW_MAX>
       <Description>Mount Yaw angle maximum</Description>
@@ -13676,7 +13690,7 @@
       <User>Advanced</User>
     </Q_NAVALT_MIN>
     <Q_OPTIONS>
-      <Bitmask>0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Always use FW spiral approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL)</Bitmask>
+      <Bitmask>0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Always use FW spiral approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL), 21:Tilt rotor tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes</Bitmask>
       <Description>Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Always use FW spiral approach:Always use Use a fixed wing spiral approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResposition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning. ARMVTOL: Arm only in VTOL or AUTO modes. CompleteTransition: to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND. Force RTL mode: forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL).</Description>
       <DisplayName>quadplane options</DisplayName>
     </Q_OPTIONS>
@@ -14397,7 +14411,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC10_OPTION>
     <RC10_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14440,7 +14454,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC11_OPTION>
     <RC11_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14483,7 +14497,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC12_OPTION>
     <RC12_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14526,7 +14540,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC13_OPTION>
     <RC13_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14569,7 +14583,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC14_OPTION>
     <RC14_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14612,7 +14626,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC15_OPTION>
     <RC15_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14655,7 +14669,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC16_OPTION>
     <RC16_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14698,7 +14712,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC1_OPTION>
     <RC1_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14741,7 +14755,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC2_OPTION>
     <RC2_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14784,7 +14798,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC3_OPTION>
     <RC3_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14827,7 +14841,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC4_OPTION>
     <RC4_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14870,7 +14884,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC5_OPTION>
     <RC5_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14913,7 +14927,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC6_OPTION>
     <RC6_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14956,7 +14970,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC7_OPTION>
     <RC7_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -14999,7 +15013,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC8_OPTION>
     <RC8_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15042,7 +15056,7 @@
       <Description>Function assigned to this RC channel</Description>
       <DisplayName>RC input option</DisplayName>
       <User>Standard</User>
-      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
+      <Values>0:Do Nothing,4:ModeRTL,9:Camera Trigger,11:Fence,16:ModeAuto,22:Parachute Release,24:Auto Mission Reset,27:Retract Mount1,28:Relay On/Off,29:Landing Gear,30:Lost Plane Sound,31:Motor Emergency Stop,34:Relay2 On/Off,35:Relay3 On/Off,36:Relay4 On/Off,38:ADSB Avoidance En,41:ArmDisarm (4.1 and lower),43:InvertedFlight,46:RC Override Enable,51:ModeManual,52:ModeACRO,55:ModeGuided,56:ModeLoiter,58:Clear Waypoints,62:Compass Learn,64:Reverse Throttle,65:GPS Disable,66:Relay5 On/Off,67:Relay6 On/Off,72:ModeCircle,77:ModeTakeoff,78:RunCam Control,79:RunCam OSD Control,81:Disarm,82:QAssist 3pos,84:Air Mode,85:Generator,86:Non Auto Terrain Follow Disable,87:Crow Select,88:Soaring Enable,89:Landing Flare,90:EKF Pos Source,91:Airspeed Ratio Calibration,92:FBWA,94:VTX Power,95:FBWA taildragger takeoff mode,96:trigger re-reading of mode switch,98:ModeTraining,100:KillIMU1,101:KillIMU2,102:Camera Mode Toggle,105:GPS Disable Yaw,106:Disable Airspeed Use,107:EnableFixedWingAutotune,108:ModeQRTL,150:CRUISE,153:ArmDisarm (4.2 and higher),154:ArmDisarm with Quadplane AirMode (4.2 and higher),155:set roll pitch and yaw trim to current servo and RC,157:Force FS Action to FBWA,158:Optflow Calibration,160:Weathervane Enable,162:FFT Tune,163:Mount Lock,164:Pause Stream Logging,165:Arm/Emergency Motor Stop,166:Camera Record Video,167:Camera Zoom,168:Camera Manual Focus,169:Camera Auto Focus,208:Flap,209:Forward Throttle,210:Airbrakes,212:Mount1 Roll,213:Mount1 Pitch,214:Mount1 Yaw,215:Mount2 Roll,216:Mount2 Pitch,217:Mount2 Yaw,300:Scripting1,301:Scripting2,302:Scripting3,303:Scripting4,304:Scripting5,305:Scripting6,306:Scripting7,307:Scripting8</Values>
     </RC9_OPTION>
     <RC9_REVERSED>
       <Description>Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.</Description>
@@ -15091,7 +15105,7 @@
       <User>Advanced</User>
     </RCMAP_YAW>
     <RC_OPTIONS>
-      <Bitmask>0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:CRSF RSSI shows Link Quality</Bitmask>
+      <Bitmask>0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 13: Use 420kbaud for ELRS protocol</Bitmask>
       <Description>RC input options</Description>
       <DisplayName>RC options</DisplayName>
       <User>Advanced</User>
diff --git a/Plane-4.3/Parameters.html b/Plane-4.3/Parameters.html
index 317ac65..877546b 100644
--- a/Plane-4.3/Parameters.html
+++ b/Plane-4.3/Parameters.html
@@ -2453,6 +2453,24 @@ <h2>field elevation (BARO_FIELD_ELV)</h2><em>Note: This parameter is for advance
 </ul>
 
 
+<h2>Altitude error maximum (BARO_ALTERR_MAX)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a &quot;Pixhawk&quot; with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.</p>
+<ul>
+<li>Units: meters</li>
+<li>Increment: 1</li>
+<li>Range: 0 5000</li>
+</ul>
+
+
+<h2>Barometer options (BARO_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>Barometer options</p>
+<ul>
+<li>Bitmask: 0:Treat MS5611 as MS5607</li>
+</ul>
+
+
 <h1>BARO1_WCF_ Parameters</h1>
 
 
@@ -5606,11 +5624,12 @@ <h2>Board type (BRD_TYPE)</h2><em>Note: This parameter is for advanced users</em
 
 <h2>Enable IO co-processor (BRD_IO_ENABLE)</h2><em>Note: This parameter is for advanced users</em><br>
 
-<p>This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled</p>
+<p>This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup</p>
 <ul>
 <table><th>Value</th><th>Meaning</th>
 <tr><td>0</td><td>Disabled</td></tr>
 <tr><td>1</td><td>Enabled</td></tr>
+<tr><td>2</td><td>EnableNoFWUpdate</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -5620,7 +5639,7 @@ <h2>Options for safety button behavior (BRD_SAFETYOPTION)</h2>
 
 <p>This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed</p>
 <ul>
-<li>Bitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</li>
+<li>Bitmask: 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</li>
 </ul>
 
 
@@ -6110,6 +6129,10 @@ <h2>Button Pin 1 RC Channel function (BTN_FUNC1)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -6202,6 +6225,10 @@ <h2>Button Pin 2 RC Channel function (BTN_FUNC2)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -6294,6 +6321,10 @@ <h2>Button Pin 3 RC Channel function (BTN_FUNC3)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -6386,6 +6417,10 @@ <h2>Button Pin 4 RC Channel function (BTN_FUNC4)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -6418,6 +6453,7 @@ <h2>Camera shutter (trigger) type (CAM_TRIGG_TYPE)</h2>
 <tr><td>0</td><td>Servo</td></tr>
 <tr><td>1</td><td>Relay</td></tr>
 <tr><td>2</td><td>GoPro in Solo Gimbal</td></tr>
+<tr><td>3</td><td>Mount (Siyi)</td></tr>
 </table>
 </ul>
 
@@ -6549,7 +6585,7 @@ <h2>RunCam device type (CAM_RC_TYPE)</h2>
 <tr><td>1</td><td>RunCam Split Micro/RunCam with UART</td></tr>
 <tr><td>2</td><td>RunCam Split</td></tr>
 <tr><td>3</td><td>RunCam Split4 4k</td></tr>
-<tr><td>4</td><td>RunCam Hybrid</td></tr>
+<tr><td>4</td><td>RunCam Hybrid/RunCam Thumb Pro</td></tr>
 </table>
 </ul>
 
@@ -8474,9 +8510,9 @@ <h2>DroneCAN driver number (DID_CANDRIVER)</h2>
 
 <h2>OpenDroneID options (DID_OPTIONS)</h2>
 
-<p>Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks</p>
+<p>Options for OpenDroneID subsystem</p>
 <ul>
-<li>Bitmask: 0:EnforceArming</li>
+<li>Bitmask: 0:EnforceArming, 1:AllowNonGPSPosition</li>
 </ul>
 
 
@@ -13311,6 +13347,7 @@ <h2>Mount Type (MNT1_TYPE)</h2>
 <tr><td>5</td><td>SToRM32 Serial</td></tr>
 <tr><td>6</td><td>Gremsy</td></tr>
 <tr><td>7</td><td>BrushlessPWM</td></tr>
+<tr><td>8</td><td>Siyi</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -13497,6 +13534,7 @@ <h2>Mount Type (MNT2_TYPE)</h2>
 <tr><td>5</td><td>SToRM32 Serial</td></tr>
 <tr><td>6</td><td>Gremsy</td></tr>
 <tr><td>7</td><td>BrushlessPWM</td></tr>
+<tr><td>8</td><td>Siyi</td></tr>
 </table>
 <li>RebootRequired: True</li>
 </ul>
@@ -22432,7 +22470,7 @@ <h2>quadplane options (Q_OPTIONS)</h2>
 
 <p>Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command&#x27;s reference frame rather than a delta above current location, Always use FW spiral approach:Always use Use a fixed wing spiral approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResposition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning. ARMVTOL: Arm only in VTOL or AUTO modes. CompleteTransition: to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND. Force RTL mode: forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL).</p>
 <ul>
-<li>Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Always use FW spiral approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL)</li>
+<li>Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Always use FW spiral approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL), 21:Tilt rotor tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes</li>
 </ul>
 
 
@@ -24209,7 +24247,7 @@ <h2>RC options (RC_OPTIONS)</h2><em>Note: This parameter is for advanced users</
 
 <p>RC input options</p>
 <ul>
-<li>Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:CRSF RSSI shows Link Quality</li>
+<li>Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 13: Use 420kbaud for ELRS protocol</li>
 </ul>
 
 
@@ -24345,6 +24383,10 @@ <h2>RC input option (RC10_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -24490,6 +24532,10 @@ <h2>RC input option (RC11_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -24635,6 +24681,10 @@ <h2>RC input option (RC12_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -24780,6 +24830,10 @@ <h2>RC input option (RC13_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -24925,6 +24979,10 @@ <h2>RC input option (RC14_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -25070,6 +25128,10 @@ <h2>RC input option (RC15_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -25215,6 +25277,10 @@ <h2>RC input option (RC16_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -25360,6 +25426,10 @@ <h2>RC input option (RC1_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -25505,6 +25575,10 @@ <h2>RC input option (RC2_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -25650,6 +25724,10 @@ <h2>RC input option (RC3_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -25795,6 +25873,10 @@ <h2>RC input option (RC4_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -25940,6 +26022,10 @@ <h2>RC input option (RC5_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -26085,6 +26171,10 @@ <h2>RC input option (RC6_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -26230,6 +26320,10 @@ <h2>RC input option (RC7_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -26375,6 +26469,10 @@ <h2>RC input option (RC8_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
@@ -26520,6 +26618,10 @@ <h2>RC input option (RC9_OPTION)</h2>
 <tr><td>163</td><td>Mount Lock</td></tr>
 <tr><td>164</td><td>Pause Stream Logging</td></tr>
 <tr><td>165</td><td>Arm/Emergency Motor Stop</td></tr>
+<tr><td>166</td><td>Camera Record Video</td></tr>
+<tr><td>167</td><td>Camera Zoom</td></tr>
+<tr><td>168</td><td>Camera Manual Focus</td></tr>
+<tr><td>169</td><td>Camera Auto Focus</td></tr>
 <tr><td>208</td><td>Flap</td></tr>
 <tr><td>209</td><td>Forward Throttle</td></tr>
 <tr><td>210</td><td>Airbrakes</td></tr>
diff --git a/Plane-4.3/Parameters.md b/Plane-4.3/Parameters.md
index 447ff61..dc2593f 100644
--- a/Plane-4.3/Parameters.md
+++ b/Plane-4.3/Parameters.md
@@ -2428,6 +2428,26 @@ User provided field elevation in meters. This is used to improve the calculation
 
 - Volatile: True
 
+## BARO_ALTERR_MAX: Altitude error maximum
+
+*Note: This parameter is for advanced users*
+
+This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.
+
+- Units: m
+
+- Increment: 1
+
+- Range: 0 5000
+
+## BARO_OPTIONS: Barometer options
+
+*Note: This parameter is for advanced users*
+
+Barometer options
+
+- Bitmask: 0:Treat MS5611 as MS5607
+
 # BARO1WCF Parameters
 
 ## BARO1_WCF_ENABLE: Wind coefficient enable
@@ -5480,12 +5500,13 @@ This allows selection of a PX4 or VRBRAIN board type. If set to zero then the bo
 
 *Note: This parameter is for advanced users*
 
-This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
+This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
 
 |Value|Meaning|
 |:---:|:---:|
 |0|Disabled|
 |1|Enabled|
+|2|EnableNoFWUpdate|
 
 - RebootRequired: True
 
@@ -5493,7 +5514,7 @@ This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
 
 This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
 
-- Bitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms
+- Bitmask: 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms
 
 ## BRD_VBUS_MIN: Autopilot board voltage requirement
 
@@ -5971,6 +5992,10 @@ Auxiliary RC Options function executed on pin change
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |208|Flap|
 |209|Forward Throttle|
 |210|Airbrakes|
@@ -6061,6 +6086,10 @@ Auxiliary RC Options function executed on pin change
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |208|Flap|
 |209|Forward Throttle|
 |210|Airbrakes|
@@ -6151,6 +6180,10 @@ Auxiliary RC Options function executed on pin change
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |208|Flap|
 |209|Forward Throttle|
 |210|Airbrakes|
@@ -6241,6 +6274,10 @@ Auxiliary RC Options function executed on pin change
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |208|Flap|
 |209|Forward Throttle|
 |210|Airbrakes|
@@ -6270,6 +6307,7 @@ how to trigger the camera to take a picture
 |0|Servo|
 |1|Relay|
 |2|GoPro in Solo Gimbal|
+|3|Mount (Siyi)|
 
 ## CAM_DURATION: Duration that shutter is held open
 
@@ -6383,7 +6421,7 @@ RunCam deviee type used to determine OSD menu structure and shutter options.
 |1|RunCam Split Micro/RunCam with UART|
 |2|RunCam Split|
 |3|RunCam Split4 4k|
-|4|RunCam Hybrid|
+|4|RunCam Hybrid/RunCam Thumb Pro|
 
 ## CAM_RC_FEATURES: RunCam features available
 
@@ -8288,9 +8326,9 @@ DroneCAN driver index, 0 to disable DroneCAN
 
 ## DID_OPTIONS: OpenDroneID options
 
-Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks
+Options for OpenDroneID subsystem
 
-- Bitmask: 0:EnforceArming
+- Bitmask: 0:EnforceArming, 1:AllowNonGPSPosition
 
 ## DID_BARO_ACC: Barometer vertical accuraacy
 
@@ -13313,6 +13351,7 @@ Mount Type
 |5|SToRM32 Serial|
 |6|Gremsy|
 |7|BrushlessPWM|
+|8|Siyi|
 
 - RebootRequired: True
 
@@ -13495,6 +13534,7 @@ Mount Type
 |5|SToRM32 Serial|
 |6|Gremsy|
 |7|BrushlessPWM|
+|8|Siyi|
 
 - RebootRequired: True
 
@@ -20421,7 +20461,7 @@ This controls the mavlink type given in HEARTBEAT messages. For some GCS types a
 
 Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Always use FW spiral approach:Always use Use a fixed wing spiral approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResposition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning. ARMVTOL: Arm only in VTOL or AUTO modes. CompleteTransition: to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND. Force RTL mode: forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL).
 
-- Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Always use FW spiral approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL)
+- Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Always use FW spiral approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL), 21:Tilt rotor tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes
 
 ## Q_TRANS_DECEL: Transition deceleration
 
@@ -22175,7 +22215,7 @@ Timeout after which RC overrides will no longer be used, and RC input will resum
 
 RC input options
 
-- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:CRSF RSSI shows Link Quality
+- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 13: Use 420kbaud for ELRS protocol
 
 ## RC_PROTOCOLS: RC protocols enabled
 
@@ -22316,6 +22356,10 @@ Function assigned to this RC channel
 |163|Mount Lock|
 |164|Pause Stream Logging|
 |165|Arm/Emergency Motor Stop|
+|166|Camera Record Video|
+|167|Camera Zoom|
+|168|Camera Manual Focus|
+|169|Camera Auto Focus|
 |208|Flap|
 |209|Forward Throttle|
 |210|Airbrakes|
diff --git a/Plane-4.3/Parameters.rst b/Plane-4.3/Parameters.rst
index 49e349e..f3c13fb 100644
--- a/Plane-4.3/Parameters.rst
+++ b/Plane-4.3/Parameters.rst
@@ -5396,6 +5396,49 @@ User provided field elevation in meters\. This is used to improve the calculatio
 
 
 
+.. _BARO_ALTERR_MAX:
+
+BARO\_ALTERR\_MAX: Altitude error maximum
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\.
+
+
++-----------+-----------+--------+
+| Increment | Range     | Units  |
++===========+===========+========+
+| 1         | 0 to 5000 | meters |
++-----------+-----------+--------+
+
+
+
+
+.. _BARO_OPTIONS:
+
+BARO\_OPTIONS: Barometer options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Barometer options
+
+
++----------------------------------+
+| Bitmask                          |
++==================================+
+| +-----+------------------------+ |
+| | Bit | Meaning                | |
+| +=====+========================+ |
+| | 0   | Treat MS5611 as MS5607 | |
+| +-----+------------------------+ |
+|                                  |
++----------------------------------+
+
+
+
+
 
 .. _parameters_BARO1_WCF_:
 
@@ -12468,21 +12511,23 @@ BRD\_IO\_ENABLE: Enable IO co\-processor
 | *Note: This parameter is for advanced users*
 | *Note: Reboot required after change*
 
-This allows for the IO co\-processor on FMUv1 and FMUv2 to be disabled
+This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
 
 
-+----------------------+
-| Values               |
-+======================+
-| +-------+----------+ |
-| | Value | Meaning  | |
-| +=======+==========+ |
-| | 0     | Disabled | |
-| +-------+----------+ |
-| | 1     | Enabled  | |
-| +-------+----------+ |
-|                      |
-+----------------------+
++------------------------------+
+| Values                       |
++==============================+
+| +-------+------------------+ |
+| | Value | Meaning          | |
+| +=======+==================+ |
+| | 0     | Disabled         | |
+| +-------+------------------+ |
+| | 1     | Enabled          | |
+| +-------+------------------+ |
+| | 2     | EnableNoFWUpdate | |
+| +-------+------------------+ |
+|                              |
++------------------------------+
 
 
 
@@ -12502,9 +12547,9 @@ This controls the activation of the safety button\. It allows you to control if
 | +-----+-------------------------------------------+ |
 | | Bit | Meaning                                   | |
 | +=====+===========================================+ |
-| | 0   | ActiveForSafetyEnable                     | |
+| | 0   | ActiveForSafetyDisable                    | |
 | +-----+-------------------------------------------+ |
-| | 1   | ActiveForSafetyDisable                    | |
+| | 1   | ActiveForSafetyEnable                     | |
 | +-----+-------------------------------------------+ |
 | | 2   | ActiveWhenArmed                           | |
 | +-----+-------------------------------------------+ |
@@ -13650,6 +13695,14 @@ Auxiliary RC Options function executed on pin change
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -13837,6 +13890,14 @@ Auxiliary RC Options function executed on pin change
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -14024,6 +14085,14 @@ Auxiliary RC Options function executed on pin change
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -14211,6 +14280,14 @@ Auxiliary RC Options function executed on pin change
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -14279,6 +14356,8 @@ how to trigger the camera to take a picture
 | +-------+----------------------+ |
 | | 2     | GoPro in Solo Gimbal | |
 | +-------+----------------------+ |
+| | 3     | Mount (Siyi)         | |
+| +-------+----------------------+ |
 |                                  |
 +----------------------------------+
 
@@ -14559,7 +14638,7 @@ RunCam deviee type used to determine OSD menu structure and shutter options\.
 | +-------+-------------------------------------+ |
 | | 3     | RunCam Split4 4k                    | |
 | +-------+-------------------------------------+ |
-| | 4     | RunCam Hybrid                       | |
+| | 4     | RunCam Hybrid/RunCam Thumb Pro      | |
 | +-------+-------------------------------------+ |
 |                                                 |
 +-------------------------------------------------+
@@ -19395,19 +19474,21 @@ DID\_OPTIONS: OpenDroneID options
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 
-Options for OpenDroneID subsystem\. Bit 0 means to enforce arming checks
+Options for OpenDroneID subsystem
 
 
-+-------------------------+
-| Bitmask                 |
-+=========================+
-| +-----+---------------+ |
-| | Bit | Meaning       | |
-| +=====+===============+ |
-| | 0   | EnforceArming | |
-| +-----+---------------+ |
-|                         |
-+-------------------------+
++-------------------------------+
+| Bitmask                       |
++===============================+
+| +-----+---------------------+ |
+| | Bit | Meaning             | |
+| +=====+=====================+ |
+| | 0   | EnforceArming       | |
+| +-----+---------------------+ |
+| | 1   | AllowNonGPSPosition | |
+| +-----+---------------------+ |
+|                               |
++-------------------------------+
 
 
 
@@ -30089,6 +30170,8 @@ Mount Type
 | +-------+-----------------+ |
 | | 7     | BrushlessPWM    | |
 | +-------+-----------------+ |
+| | 8     | Siyi            | |
+| +-------+-----------------+ |
 |                             |
 +-----------------------------+
 
@@ -30437,6 +30520,8 @@ Mount Type
 | +-------+-----------------+ |
 | | 7     | BrushlessPWM    | |
 | +-------+-----------------+ |
+| | 8     | Siyi            | |
+| +-------+-----------------+ |
 |                             |
 +-----------------------------+
 
@@ -49623,54 +49708,56 @@ Q\_OPTIONS: quadplane options
 Level Transition\:Keep wings within LEVEL\_ROLL\_LIMIT and only use forward motor\(s\) for climb during transition\, Allow FW Takeoff\: If bit is not set then NAV\_TAKEOFF command on quadplanes will instead perform a NAV\_VTOL takeoff\, Allow FW Land\:If bit is not set then NAV\_LAND command on quadplanes will instead perform a NAV\_VTOL\_LAND\, Vtol Takeoff Frame\: command NAV\_VTOL\_TAKEOFF altitude is as set by the command\'s reference frame rather than a delta above current location\, Always use FW spiral approach\:Always use Use a fixed wing spiral approach for VTOL landings\, USE QRTL\:instead of QLAND for rc failsafe when in VTOL modes\, Use Governor\:Use ICE Idle Governor in MANUAL for forward motor\, Force Qassist\: on always\,Mtrs\_Only\_Qassist\: in tailsitters only\, uses VTOL motors and not flying surfaces for QASSIST\, Airmode\_On\_Arm\:Airmode enabled when arming by aux switch\, Disarmed Yaw Tilt\:Enable motor tilt for yaw when disarmed\, Delay Spoolup\:Delay VTOL spoolup for 2 seconds after arming\, ThrLandControl\: enable throttle stick control of landing rate\, DisableApproach\: Disable use of approach and airbrake stages in VTOL landing\, EnableLandResposition\: enable pilot controlled repositioning in AUTO land\. Descent will pause while repositioning\. ARMVTOL\: Arm only in VTOL or AUTO modes\. CompleteTransition\: to fixed wing if Q\_TRANS\_FAIL timer times out instead of QLAND\. Force RTL mode\: forces RTL mode on rc failsafe in VTOL modes overriding bit 5\(USE\_QRTL\)\.
 
 
-+-----------------------------------------------------------------------+
-| Bitmask                                                               |
-+=======================================================================+
-| +-----+-------------------------------------------------------------+ |
-| | Bit | Meaning                                                     | |
-| +=====+=============================================================+ |
-| | 0   | Level Transition                                            | |
-| +-----+-------------------------------------------------------------+ |
-| | 1   | Allow FW Takeoff                                            | |
-| +-----+-------------------------------------------------------------+ |
-| | 2   | Allow FW Land                                               | |
-| +-----+-------------------------------------------------------------+ |
-| | 3   | Vtol Takeoff Frame                                          | |
-| +-----+-------------------------------------------------------------+ |
-| | 4   | Always use FW spiral approach                               | |
-| +-----+-------------------------------------------------------------+ |
-| | 5   | Use QRTL                                                    | |
-| +-----+-------------------------------------------------------------+ |
-| | 6   | Use Governor                                                | |
-| +-----+-------------------------------------------------------------+ |
-| | 7   | Force Qassist                                               | |
-| +-----+-------------------------------------------------------------+ |
-| | 8   | Mtrs_Only_Qassist                                           | |
-| +-----+-------------------------------------------------------------+ |
-| | 10  | Disarmed Yaw Tilt                                           | |
-| +-----+-------------------------------------------------------------+ |
-| | 11  | Delay Spoolup                                               | |
-| +-----+-------------------------------------------------------------+ |
-| | 12  | disable Qassist based on synthetic airspeed                 | |
-| +-----+-------------------------------------------------------------+ |
-| | 13  | Disable Ground Effect Compensation                          | |
-| +-----+-------------------------------------------------------------+ |
-| | 14  | Ignore forward flight angle limits in Qmodes                | |
-| +-----+-------------------------------------------------------------+ |
-| | 15  | ThrLandControl                                              | |
-| +-----+-------------------------------------------------------------+ |
-| | 16  | DisableApproach                                             | |
-| +-----+-------------------------------------------------------------+ |
-| | 17  | EnableLandReposition                                        | |
-| +-----+-------------------------------------------------------------+ |
-| | 18  | ARMVtol                                                     | |
-| +-----+-------------------------------------------------------------+ |
-| | 19  | CompleteTransition if Q_TRANS_FAIL                          | |
-| +-----+-------------------------------------------------------------+ |
-| | 20  | Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL) | |
-| +-----+-------------------------------------------------------------+ |
-|                                                                       |
-+-----------------------------------------------------------------------+
++---------------------------------------------------------------------------------------------------------+
+| Bitmask                                                                                                 |
++=========================================================================================================+
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | Bit | Meaning                                                                                       | |
+| +=====+===============================================================================================+ |
+| | 0   | Level Transition                                                                              | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 1   | Allow FW Takeoff                                                                              | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 2   | Allow FW Land                                                                                 | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 3   | Vtol Takeoff Frame                                                                            | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 4   | Always use FW spiral approach                                                                 | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 5   | Use QRTL                                                                                      | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 6   | Use Governor                                                                                  | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 7   | Force Qassist                                                                                 | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 8   | Mtrs_Only_Qassist                                                                             | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 10  | Disarmed Yaw Tilt                                                                             | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 11  | Delay Spoolup                                                                                 | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 12  | disable Qassist based on synthetic airspeed                                                   | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 13  | Disable Ground Effect Compensation                                                            | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 14  | Ignore forward flight angle limits in Qmodes                                                  | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 15  | ThrLandControl                                                                                | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 16  | DisableApproach                                                                               | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 17  | EnableLandReposition                                                                          | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 18  | ARMVtol                                                                                       | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 19  | CompleteTransition if Q_TRANS_FAIL                                                            | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 20  | Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL)                                   | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+| | 21  | Tilt rotor tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes | |
+| +-----+-----------------------------------------------------------------------------------------------+ |
+|                                                                                                         |
++---------------------------------------------------------------------------------------------------------+
 
 
 
@@ -53358,7 +53445,9 @@ RC input options
 | +-----+--------------------------------------------------------------------+ |
 | | 10  | Enable multiple receiver support                                   | |
 | +-----+--------------------------------------------------------------------+ |
-| | 11  | CRSF RSSI shows Link Quality                                       | |
+| | 11  | Use Link Quality for RSSI with CRSF                                | |
+| +-----+--------------------------------------------------------------------+ |
+| | 13  | Use 420kbaud for ELRS protocol                                     | |
 | +-----+--------------------------------------------------------------------+ |
 |                                                                              |
 +------------------------------------------------------------------------------+
@@ -53672,6 +53761,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -53968,6 +54065,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -54264,6 +54369,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -54560,6 +54673,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -54856,6 +54977,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -55152,6 +55281,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -55448,6 +55585,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -55744,6 +55889,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -56040,6 +56193,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -56336,6 +56497,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -56632,6 +56801,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -56928,6 +57105,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -57224,6 +57409,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -57520,6 +57713,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -57816,6 +58017,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
@@ -58112,6 +58321,14 @@ Function assigned to this RC channel
 | +-------+-----------------------------------------------------+ |
 | | 165   | Arm/Emergency Motor Stop                            | |
 | +-------+-----------------------------------------------------+ |
+| | 166   | Camera Record Video                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 167   | Camera Zoom                                         | |
+| +-------+-----------------------------------------------------+ |
+| | 168   | Camera Manual Focus                                 | |
+| +-------+-----------------------------------------------------+ |
+| | 169   | Camera Auto Focus                                   | |
+| +-------+-----------------------------------------------------+ |
 | | 208   | Flap                                                | |
 | +-------+-----------------------------------------------------+ |
 | | 209   | Forward Throttle                                    | |
diff --git a/Plane-4.3/ParametersLatex.rst b/Plane-4.3/ParametersLatex.rst
index 46f353c..6236ed7 100644
--- a/Plane-4.3/ParametersLatex.rst
+++ b/Plane-4.3/ParametersLatex.rst
@@ -5081,6 +5081,44 @@ User provided field elevation in meters\. This is used to improve the calculatio
 
 
 
+.. _BARO_ALTERR_MAX:
+
+BARO\_ALTERR\_MAX: Altitude error maximum
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\.
+
+
++-----------+-----------+--------+
+| Increment | Range     | Units  |
++===========+===========+========+
+| 1         | 0 to 5000 | meters |
++-----------+-----------+--------+
+
+
+
+
+.. _BARO_OPTIONS:
+
+BARO\_OPTIONS: Barometer options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Barometer options
+
+
++-----+------------------------+
+| Bit | Meaning                |
++=====+========================+
+| 0   | Treat MS5611 as MS5607 |
++-----+------------------------+
+
+
+
+
 
 .. _parameters_BARO1_WCF_:
 
@@ -11688,16 +11726,18 @@ BRD\_IO\_ENABLE: Enable IO co\-processor
 | *Note: This parameter is for advanced users*
 | *Note: Reboot required after change*
 
-This allows for the IO co\-processor on FMUv1 and FMUv2 to be disabled
+This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
 
 
-+-------+----------+
-| Value | Meaning  |
-+=======+==========+
-| 0     | Disabled |
-+-------+----------+
-| 1     | Enabled  |
-+-------+----------+
++-------+------------------+
+| Value | Meaning          |
++=======+==================+
+| 0     | Disabled         |
++-------+------------------+
+| 1     | Enabled          |
++-------+------------------+
+| 2     | EnableNoFWUpdate |
++-------+------------------+
 
 
 
@@ -11714,9 +11754,9 @@ This controls the activation of the safety button\. It allows you to control if
 +-----+-------------------------------------------+
 | Bit | Meaning                                   |
 +=====+===========================================+
-| 0   | ActiveForSafetyEnable                     |
+| 0   | ActiveForSafetyDisable                    |
 +-----+-------------------------------------------+
-| 1   | ActiveForSafetyDisable                    |
+| 1   | ActiveForSafetyEnable                     |
 +-----+-------------------------------------------+
 | 2   | ActiveWhenArmed                           |
 +-----+-------------------------------------------+
@@ -12762,6 +12802,14 @@ Auxiliary RC Options function executed on pin change
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -12944,6 +12992,14 @@ Auxiliary RC Options function executed on pin change
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -13126,6 +13182,14 @@ Auxiliary RC Options function executed on pin change
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -13308,6 +13372,14 @@ Auxiliary RC Options function executed on pin change
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -13371,6 +13443,8 @@ how to trigger the camera to take a picture
 +-------+----------------------+
 | 2     | GoPro in Solo Gimbal |
 +-------+----------------------+
+| 3     | Mount (Siyi)         |
++-------+----------------------+
 
 
 
@@ -13621,7 +13695,7 @@ RunCam deviee type used to determine OSD menu structure and shutter options\.
 +-------+-------------------------------------+
 | 3     | RunCam Split4 4k                    |
 +-------+-------------------------------------+
-| 4     | RunCam Hybrid                       |
+| 4     | RunCam Hybrid/RunCam Thumb Pro      |
 +-------+-------------------------------------+
 
 
@@ -18224,14 +18298,16 @@ DID\_OPTIONS: OpenDroneID options
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 
-Options for OpenDroneID subsystem\. Bit 0 means to enforce arming checks
+Options for OpenDroneID subsystem
 
 
-+-----+---------------+
-| Bit | Meaning       |
-+=====+===============+
-| 0   | EnforceArming |
-+-----+---------------+
++-----+---------------------+
+| Bit | Meaning             |
++=====+=====================+
+| 0   | EnforceArming       |
++-----+---------------------+
+| 1   | AllowNonGPSPosition |
++-----+---------------------+
 
 
 
@@ -28343,6 +28419,8 @@ Mount Type
 +-------+-----------------+
 | 7     | BrushlessPWM    |
 +-------+-----------------+
+| 8     | Siyi            |
++-------+-----------------+
 
 
 
@@ -28681,6 +28759,8 @@ Mount Type
 +-------+-----------------+
 | 7     | BrushlessPWM    |
 +-------+-----------------+
+| 8     | Siyi            |
++-------+-----------------+
 
 
 
@@ -46445,49 +46525,51 @@ Q\_OPTIONS: quadplane options
 Level Transition\:Keep wings within LEVEL\_ROLL\_LIMIT and only use forward motor\(s\) for climb during transition\, Allow FW Takeoff\: If bit is not set then NAV\_TAKEOFF command on quadplanes will instead perform a NAV\_VTOL takeoff\, Allow FW Land\:If bit is not set then NAV\_LAND command on quadplanes will instead perform a NAV\_VTOL\_LAND\, Vtol Takeoff Frame\: command NAV\_VTOL\_TAKEOFF altitude is as set by the command\'s reference frame rather than a delta above current location\, Always use FW spiral approach\:Always use Use a fixed wing spiral approach for VTOL landings\, USE QRTL\:instead of QLAND for rc failsafe when in VTOL modes\, Use Governor\:Use ICE Idle Governor in MANUAL for forward motor\, Force Qassist\: on always\,Mtrs\_Only\_Qassist\: in tailsitters only\, uses VTOL motors and not flying surfaces for QASSIST\, Airmode\_On\_Arm\:Airmode enabled when arming by aux switch\, Disarmed Yaw Tilt\:Enable motor tilt for yaw when disarmed\, Delay Spoolup\:Delay VTOL spoolup for 2 seconds after arming\, ThrLandControl\: enable throttle stick control of landing rate\, DisableApproach\: Disable use of approach and airbrake stages in VTOL landing\, EnableLandResposition\: enable pilot controlled repositioning in AUTO land\. Descent will pause while repositioning\. ARMVTOL\: Arm only in VTOL or AUTO modes\. CompleteTransition\: to fixed wing if Q\_TRANS\_FAIL timer times out instead of QLAND\. Force RTL mode\: forces RTL mode on rc failsafe in VTOL modes overriding bit 5\(USE\_QRTL\)\.
 
 
-+-----+-------------------------------------------------------------+
-| Bit | Meaning                                                     |
-+=====+=============================================================+
-| 0   | Level Transition                                            |
-+-----+-------------------------------------------------------------+
-| 1   | Allow FW Takeoff                                            |
-+-----+-------------------------------------------------------------+
-| 2   | Allow FW Land                                               |
-+-----+-------------------------------------------------------------+
-| 3   | Vtol Takeoff Frame                                          |
-+-----+-------------------------------------------------------------+
-| 4   | Always use FW spiral approach                               |
-+-----+-------------------------------------------------------------+
-| 5   | Use QRTL                                                    |
-+-----+-------------------------------------------------------------+
-| 6   | Use Governor                                                |
-+-----+-------------------------------------------------------------+
-| 7   | Force Qassist                                               |
-+-----+-------------------------------------------------------------+
-| 8   | Mtrs_Only_Qassist                                           |
-+-----+-------------------------------------------------------------+
-| 10  | Disarmed Yaw Tilt                                           |
-+-----+-------------------------------------------------------------+
-| 11  | Delay Spoolup                                               |
-+-----+-------------------------------------------------------------+
-| 12  | disable Qassist based on synthetic airspeed                 |
-+-----+-------------------------------------------------------------+
-| 13  | Disable Ground Effect Compensation                          |
-+-----+-------------------------------------------------------------+
-| 14  | Ignore forward flight angle limits in Qmodes                |
-+-----+-------------------------------------------------------------+
-| 15  | ThrLandControl                                              |
-+-----+-------------------------------------------------------------+
-| 16  | DisableApproach                                             |
-+-----+-------------------------------------------------------------+
-| 17  | EnableLandReposition                                        |
-+-----+-------------------------------------------------------------+
-| 18  | ARMVtol                                                     |
-+-----+-------------------------------------------------------------+
-| 19  | CompleteTransition if Q_TRANS_FAIL                          |
-+-----+-------------------------------------------------------------+
-| 20  | Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL) |
-+-----+-------------------------------------------------------------+
++-----+-----------------------------------------------------------------------------------------------+
+| Bit | Meaning                                                                                       |
++=====+===============================================================================================+
+| 0   | Level Transition                                                                              |
++-----+-----------------------------------------------------------------------------------------------+
+| 1   | Allow FW Takeoff                                                                              |
++-----+-----------------------------------------------------------------------------------------------+
+| 2   | Allow FW Land                                                                                 |
++-----+-----------------------------------------------------------------------------------------------+
+| 3   | Vtol Takeoff Frame                                                                            |
++-----+-----------------------------------------------------------------------------------------------+
+| 4   | Always use FW spiral approach                                                                 |
++-----+-----------------------------------------------------------------------------------------------+
+| 5   | Use QRTL                                                                                      |
++-----+-----------------------------------------------------------------------------------------------+
+| 6   | Use Governor                                                                                  |
++-----+-----------------------------------------------------------------------------------------------+
+| 7   | Force Qassist                                                                                 |
++-----+-----------------------------------------------------------------------------------------------+
+| 8   | Mtrs_Only_Qassist                                                                             |
++-----+-----------------------------------------------------------------------------------------------+
+| 10  | Disarmed Yaw Tilt                                                                             |
++-----+-----------------------------------------------------------------------------------------------+
+| 11  | Delay Spoolup                                                                                 |
++-----+-----------------------------------------------------------------------------------------------+
+| 12  | disable Qassist based on synthetic airspeed                                                   |
++-----+-----------------------------------------------------------------------------------------------+
+| 13  | Disable Ground Effect Compensation                                                            |
++-----+-----------------------------------------------------------------------------------------------+
+| 14  | Ignore forward flight angle limits in Qmodes                                                  |
++-----+-----------------------------------------------------------------------------------------------+
+| 15  | ThrLandControl                                                                                |
++-----+-----------------------------------------------------------------------------------------------+
+| 16  | DisableApproach                                                                               |
++-----+-----------------------------------------------------------------------------------------------+
+| 17  | EnableLandReposition                                                                          |
++-----+-----------------------------------------------------------------------------------------------+
+| 18  | ARMVtol                                                                                       |
++-----+-----------------------------------------------------------------------------------------------+
+| 19  | CompleteTransition if Q_TRANS_FAIL                                                            |
++-----+-----------------------------------------------------------------------------------------------+
+| 20  | Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL)                                   |
++-----+-----------------------------------------------------------------------------------------------+
+| 21  | Tilt rotor tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes |
++-----+-----------------------------------------------------------------------------------------------+
 
 
 
@@ -50093,7 +50175,9 @@ RC input options
 +-----+--------------------------------------------------------------------+
 | 10  | Enable multiple receiver support                                   |
 +-----+--------------------------------------------------------------------+
-| 11  | CRSF RSSI shows Link Quality                                       |
+| 11  | Use Link Quality for RSSI with CRSF                                |
++-----+--------------------------------------------------------------------+
+| 13  | Use 420kbaud for ELRS protocol                                     |
 +-----+--------------------------------------------------------------------+
 
 
@@ -50392,6 +50476,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -50678,6 +50770,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -50964,6 +51064,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -51250,6 +51358,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -51536,6 +51652,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -51822,6 +51946,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -52108,6 +52240,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -52394,6 +52534,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -52680,6 +52828,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -52966,6 +53122,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -53252,6 +53416,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -53538,6 +53710,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -53824,6 +54004,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -54110,6 +54298,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -54396,6 +54592,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
@@ -54682,6 +54886,14 @@ Function assigned to this RC channel
 +-------+-----------------------------------------------------+
 | 165   | Arm/Emergency Motor Stop                            |
 +-------+-----------------------------------------------------+
+| 166   | Camera Record Video                                 |
++-------+-----------------------------------------------------+
+| 167   | Camera Zoom                                         |
++-------+-----------------------------------------------------+
+| 168   | Camera Manual Focus                                 |
++-------+-----------------------------------------------------+
+| 169   | Camera Auto Focus                                   |
++-------+-----------------------------------------------------+
 | 208   | Flap                                                |
 +-------+-----------------------------------------------------+
 | 209   | Forward Throttle                                    |
diff --git a/Plane-4.3/apm.pdef.json b/Plane-4.3/apm.pdef.json
index 02ee442..bb2d580 100644
--- a/Plane-4.3/apm.pdef.json
+++ b/Plane-4.3/apm.pdef.json
@@ -1007,6 +1007,17 @@
       "User": "Advanced",
       "Volatile": "True"
     },
+    "BARO_ALTERR_MAX": {
+      "Description": "This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.",
+      "DisplayName": "Altitude error maximum",
+      "Increment": "1",
+      "Range": {
+        "high": "5000",
+        "low": "0"
+      },
+      "Units": "m",
+      "User": "Advanced"
+    },
     "BARO_ALT_OFFSET": {
       "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.",
       "DisplayName": "altitude offset",
@@ -1050,6 +1061,14 @@
       "User": "Advanced",
       "Volatile": "True"
     },
+    "BARO_OPTIONS": {
+      "Bitmask": {
+        "0": "Treat MS5611 as MS5607"
+      },
+      "Description": "Barometer options",
+      "DisplayName": "Barometer options",
+      "User": "Advanced"
+    },
     "BARO_PRIMARY": {
       "Description": "This selects which barometer will be the primary if multiple barometers are found",
       "DisplayName": "Primary barometer",
@@ -3962,13 +3981,14 @@
       "User": "Advanced"
     },
     "BRD_IO_ENABLE": {
-      "Description": "This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled",
+      "Description": "This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup",
       "DisplayName": "Enable IO co-processor",
       "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "1": "Enabled",
+        "2": "EnableNoFWUpdate"
       }
     },
     "BRD_OPTIONS": {
@@ -4006,8 +4026,8 @@
     },
     "BRD_SAFETYOPTION": {
       "Bitmask": {
-        "0": "ActiveForSafetyEnable",
-        "1": "ActiveForSafetyDisable",
+        "0": "ActiveForSafetyDisable",
+        "1": "ActiveForSafetyEnable",
         "2": "ActiveWhenArmed",
         "3": "Force safety on when the aircraft disarms"
       },
@@ -4407,6 +4427,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -4497,6 +4521,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -4587,6 +4615,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -4677,6 +4709,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -4952,7 +4988,8 @@
       "Values": {
         "0": "Servo",
         "1": "Relay",
-        "2": "GoPro in Solo Gimbal"
+        "2": "GoPro in Solo Gimbal",
+        "3": "Mount (Siyi)"
       }
     },
     "CAM_TYPE": {
@@ -5016,7 +5053,7 @@
         "1": "RunCam Split Micro/RunCam with UART",
         "2": "RunCam Split",
         "3": "RunCam Split4 4k",
-        "4": "RunCam Hybrid"
+        "4": "RunCam Hybrid/RunCam Thumb Pro"
       }
     }
   },
@@ -7113,9 +7150,10 @@
     },
     "DID_OPTIONS": {
       "Bitmask": {
-        "0": "EnforceArming"
+        "0": "EnforceArming",
+        "1": "AllowNonGPSPosition"
       },
-      "Description": "Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks",
+      "Description": "Options for OpenDroneID subsystem",
       "DisplayName": "OpenDroneID options"
     }
   },
@@ -12054,7 +12092,8 @@
         "4": "SToRM32 MAVLink",
         "5": "SToRM32 Serial",
         "6": "Gremsy",
-        "7": "BrushlessPWM"
+        "7": "BrushlessPWM",
+        "8": "Siyi"
       }
     },
     "MNT1_YAW_MAX": {
@@ -12250,7 +12289,8 @@
         "4": "SToRM32 MAVLink",
         "5": "SToRM32 Serial",
         "6": "Gremsy",
-        "7": "BrushlessPWM"
+        "7": "BrushlessPWM",
+        "8": "Siyi"
       }
     },
     "MNT2_YAW_MAX": {
@@ -21444,6 +21484,7 @@
         "19": "CompleteTransition if Q_TRANS_FAIL",
         "2": "Allow FW Land",
         "20": "Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL)",
+        "21": "Tilt rotor tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes",
         "3": "Vtol Takeoff Frame",
         "4": "Always use FW spiral approach",
         "5": "Use QRTL",
@@ -23315,7 +23356,8 @@
         "0": "Ignore RC Receiver",
         "1": "Ignore MAVLink Overrides",
         "10": "Enable multiple receiver support",
-        "11": "CRSF RSSI shows Link Quality",
+        "11": "Use Link Quality for RSSI with CRSF",
+        "13": "Use 420kbaud for ELRS protocol",
         "2": "Ignore Receiver Failsafe bit but allow other RC failsafes if setup",
         "3": "FPort Pad",
         "4": "Log RC input bytes",
@@ -23420,6 +23462,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -23564,6 +23610,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -23708,6 +23758,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -23852,6 +23906,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -23996,6 +24054,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -24140,6 +24202,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -24284,6 +24350,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -24428,6 +24498,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -24572,6 +24646,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -24716,6 +24794,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -24860,6 +24942,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -25004,6 +25090,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -25148,6 +25238,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -25292,6 +25386,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -25436,6 +25534,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
@@ -25580,6 +25682,10 @@
         "163": "Mount Lock",
         "164": "Pause Stream Logging",
         "165": "Arm/Emergency Motor Stop",
+        "166": "Camera Record Video",
+        "167": "Camera Zoom",
+        "168": "Camera Manual Focus",
+        "169": "Camera Auto Focus",
         "208": "Flap",
         "209": "Forward Throttle",
         "210": "Airbrakes",
diff --git a/Plane-4.3/apm.pdef.xml b/Plane-4.3/apm.pdef.xml
index c965d1f..62cf9d1 100644
--- a/Plane-4.3/apm.pdef.xml
+++ b/Plane-4.3/apm.pdef.xml
@@ -1426,6 +1426,15 @@
         <field name="Increment">0.1</field>
         <field name="Volatile">True</field>
       </param>
+      <param humanName="Altitude error maximum" name="BARO_ALTERR_MAX" documentation="This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a &quot;Pixhawk&quot; with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 5000</field>
+      </param>
+      <param humanName="Barometer options" name="BARO_OPTIONS" documentation="Barometer options" user="Advanced">
+        <field name="Bitmask">0:Treat MS5611 as MS5607</field>
+      </param>
     </parameters>
     <parameters name="BARO1_WCF_">
       <param humanName="Wind coefficient enable" name="BARO1_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
@@ -3256,15 +3265,16 @@
         </values>
         <field name="RebootRequired">True</field>
       </param>
-      <param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
+      <param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup" user="Advanced">
         <values>
           <value code="0">Disabled</value>
           <value code="1">Enabled</value>
+          <value code="2">EnableNoFWUpdate</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
       <param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
-        <field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
+        <field name="Bitmask">0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
       </param>
       <param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
         <field name="Units">V</field>
@@ -3550,6 +3560,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -3637,6 +3651,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -3724,6 +3742,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -3811,6 +3833,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -3837,6 +3863,7 @@
           <value code="0">Servo</value>
           <value code="1">Relay</value>
           <value code="2">GoPro in Solo Gimbal</value>
+          <value code="3">Mount (Siyi)</value>
         </values>
       </param>
       <param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
@@ -3913,7 +3940,7 @@
           <value code="1">RunCam Split Micro/RunCam with UART</value>
           <value code="2">RunCam Split</value>
           <value code="3">RunCam Split4 4k</value>
-          <value code="4">RunCam Hybrid</value>
+          <value code="4">RunCam Hybrid/RunCam Thumb Pro</value>
         </values>
       </param>
       <param humanName="RunCam features available" name="CAM_RC_FEATURES" documentation="The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used." user="Advanced">
@@ -4969,8 +4996,8 @@
           <value code="2">Driver2</value>
         </values>
       </param>
-      <param humanName="OpenDroneID options" name="DID_OPTIONS" documentation="Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks">
-        <field name="Bitmask">0:EnforceArming</field>
+      <param humanName="OpenDroneID options" name="DID_OPTIONS" documentation="Options for OpenDroneID subsystem">
+        <field name="Bitmask">0:EnforceArming, 1:AllowNonGPSPosition</field>
       </param>
       <param humanName="Barometer vertical accuraacy" name="DID_BARO_ACC" documentation="Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default" user="Advanced">
         <field name="Units">m</field>
@@ -7587,6 +7614,7 @@
           <value code="5">SToRM32 Serial</value>
           <value code="6">Gremsy</value>
           <value code="7">BrushlessPWM</value>
+          <value code="8">Siyi</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -7702,6 +7730,7 @@
           <value code="5">SToRM32 Serial</value>
           <value code="6">Gremsy</value>
           <value code="7">BrushlessPWM</value>
+          <value code="8">Siyi</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -11671,7 +11700,7 @@
         </values>
       </param>
       <param humanName="quadplane options" name="Q_OPTIONS" documentation="Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Always use FW spiral approach:Always use Use a fixed wing spiral approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResposition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning. ARMVTOL: Arm only in VTOL or AUTO modes. CompleteTransition: to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND. Force RTL mode: forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL).">
-        <field name="Bitmask">0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Always use FW spiral approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL)</field>
+        <field name="Bitmask">0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Always use FW spiral approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL), 21:Tilt rotor tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes</field>
       </param>
       <param humanName="Transition deceleration" name="Q_TRANS_DECEL" documentation="This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight." user="Standard">
         <field name="Units">m/s/s</field>
@@ -12640,7 +12669,7 @@
         <field name="UnitText">seconds</field>
       </param>
       <param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
-        <field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:CRSF RSSI shows Link Quality</field>
+        <field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 13: Use 420kbaud for ELRS protocol</field>
       </param>
       <param humanName="RC protocols enabled" name="RC_PROTOCOLS" documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols." user="Advanced">
         <field name="Bitmask">0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS</field>
@@ -12744,6 +12773,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -12862,6 +12895,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -12980,6 +13017,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -13098,6 +13139,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -13216,6 +13261,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -13334,6 +13383,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -13452,6 +13505,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -13570,6 +13627,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -13688,6 +13749,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -13806,6 +13871,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -13924,6 +13993,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -14042,6 +14115,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -14160,6 +14237,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -14278,6 +14359,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -14396,6 +14481,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
@@ -14514,6 +14603,10 @@
           <value code="163">Mount Lock</value>
           <value code="164">Pause Stream Logging</value>
           <value code="165">Arm/Emergency Motor Stop</value>
+          <value code="166">Camera Record Video</value>
+          <value code="167">Camera Zoom</value>
+          <value code="168">Camera Manual Focus</value>
+          <value code="169">Camera Auto Focus</value>
           <value code="208">Flap</value>
           <value code="209">Forward Throttle</value>
           <value code="210">Airbrakes</value>
diff --git a/Rover-4.1/apm.pdef.json b/Rover-4.1/apm.pdef.json
index 20d542f..c2b1a3d 100644
--- a/Rover-4.1/apm.pdef.json
+++ b/Rover-4.1/apm.pdef.json
@@ -1503,7 +1503,7 @@
         "15": "CubeOrange",
         "17": "Durandal",
         "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
+        "4": "CubeOrange_PM2"
       }
     },
     "BATT2_FS_CRT_ACT": {
@@ -1621,8 +1621,7 @@
         "13": "Pixhawk2_PM2/CubeOrange_PM2",
         "14": "CubeOrange",
         "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1"
       }
     }
   },
@@ -1695,7 +1694,7 @@
         "15": "CubeOrange",
         "17": "Durandal",
         "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
+        "4": "CubeOrange_PM2"
       }
     },
     "BATT3_FS_CRT_ACT": {
@@ -1813,8 +1812,7 @@
         "13": "Pixhawk2_PM2/CubeOrange_PM2",
         "14": "CubeOrange",
         "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1"
       }
     }
   },
@@ -1887,7 +1885,7 @@
         "15": "CubeOrange",
         "17": "Durandal",
         "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
+        "4": "CubeOrange_PM2"
       }
     },
     "BATT4_FS_CRT_ACT": {
@@ -2005,8 +2003,7 @@
         "13": "Pixhawk2_PM2/CubeOrange_PM2",
         "14": "CubeOrange",
         "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1"
       }
     }
   },
@@ -2079,7 +2076,7 @@
         "15": "CubeOrange",
         "17": "Durandal",
         "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
+        "4": "CubeOrange_PM2"
       }
     },
     "BATT5_FS_CRT_ACT": {
@@ -2197,8 +2194,7 @@
         "13": "Pixhawk2_PM2/CubeOrange_PM2",
         "14": "CubeOrange",
         "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1"
       }
     }
   },
@@ -2271,7 +2267,7 @@
         "15": "CubeOrange",
         "17": "Durandal",
         "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
+        "4": "CubeOrange_PM2"
       }
     },
     "BATT6_FS_CRT_ACT": {
@@ -2389,8 +2385,7 @@
         "13": "Pixhawk2_PM2/CubeOrange_PM2",
         "14": "CubeOrange",
         "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1"
       }
     }
   },
@@ -2463,7 +2458,7 @@
         "15": "CubeOrange",
         "17": "Durandal",
         "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
+        "4": "CubeOrange_PM2"
       }
     },
     "BATT7_FS_CRT_ACT": {
@@ -2581,8 +2576,7 @@
         "13": "Pixhawk2_PM2/CubeOrange_PM2",
         "14": "CubeOrange",
         "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1"
       }
     }
   },
@@ -2655,7 +2649,7 @@
         "15": "CubeOrange",
         "17": "Durandal",
         "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
+        "4": "CubeOrange_PM2"
       }
     },
     "BATT8_FS_CRT_ACT": {
@@ -2773,8 +2767,7 @@
         "13": "Pixhawk2_PM2/CubeOrange_PM2",
         "14": "CubeOrange",
         "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1"
       }
     }
   },
@@ -2847,7 +2840,7 @@
         "15": "CubeOrange",
         "17": "Durandal",
         "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
+        "4": "CubeOrange_PM2"
       }
     },
     "BATT9_FS_CRT_ACT": {
@@ -2965,8 +2958,7 @@
         "13": "Pixhawk2_PM2/CubeOrange_PM2",
         "14": "CubeOrange",
         "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1"
       }
     }
   },
@@ -3039,7 +3031,7 @@
         "15": "CubeOrange",
         "17": "Durandal",
         "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
+        "4": "CubeOrange_PM2"
       }
     },
     "BATT_FS_CRT_ACT": {
@@ -3157,8 +3149,7 @@
         "13": "Pixhawk2_PM2/CubeOrange_PM2",
         "14": "CubeOrange",
         "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1"
       }
     }
   },
@@ -4282,6 +4273,7 @@
       "Values": {
         "0": "Disabled",
         "1": "UAVCAN",
+        "11": "Benewake",
         "3": "ToshibaCAN",
         "4": "PiccoloCAN",
         "5": "CANTester",
@@ -4474,6 +4466,7 @@
       "Values": {
         "0": "Disabled",
         "1": "UAVCAN",
+        "11": "Benewake",
         "3": "ToshibaCAN",
         "4": "PiccoloCAN",
         "5": "CANTester",
@@ -4666,6 +4659,7 @@
       "Values": {
         "0": "Disabled",
         "1": "UAVCAN",
+        "11": "Benewake",
         "3": "ToshibaCAN",
         "4": "PiccoloCAN",
         "5": "CANTester",
@@ -20066,6 +20060,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND1_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND1_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -20082,6 +20085,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND1_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND1_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -20136,6 +20148,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -20327,6 +20340,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND2_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND2_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -20343,6 +20365,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND2_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND2_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -20397,6 +20428,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -20588,6 +20620,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND3_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND3_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -20604,6 +20645,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND3_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND3_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -20658,6 +20708,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -20849,6 +20900,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND4_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND4_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -20865,6 +20925,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND4_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND4_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -20919,6 +20988,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -21110,6 +21180,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND5_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND5_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -21126,6 +21205,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND5_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND5_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -21180,6 +21268,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -21371,6 +21460,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND6_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND6_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -21387,6 +21485,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND6_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND6_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -21441,6 +21548,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -21632,6 +21740,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND7_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND7_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -21648,6 +21765,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND7_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND7_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -21702,6 +21828,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -21893,6 +22020,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND8_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND8_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -21909,6 +22045,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND8_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND8_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -21963,6 +22108,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -22154,6 +22300,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFND9_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND9_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -22170,6 +22325,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFND9_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFND9_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -22224,6 +22388,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
@@ -22415,6 +22580,15 @@
       "Units": "m",
       "User": "Standard"
     },
+    "RNGFNDA_RECV_ID": {
+      "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.",
+      "DisplayName": "CAN receive ID",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFNDA_RMETRIC": {
       "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.",
       "DisplayName": "Ratiometric",
@@ -22431,6 +22605,15 @@
       "Units": "m/V",
       "User": "Standard"
     },
+    "RNGFNDA_SNR_MIN": {
+      "Description": "Minimum signal strength (SNR) to accept distance",
+      "DisplayName": "Minimum signal strength",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
     "RNGFNDA_STOP_PIN": {
       "Description": "Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.",
       "DisplayName": "Rangefinder stop pin",
@@ -22485,6 +22668,7 @@
         "31": "GYUS42v2",
         "32": "MSP",
         "33": "USD1_CAN",
+        "34": "Benewake_CAN",
         "5": "PWM",
         "6": "BBB-PRU",
         "7": "LightWareI2C",
diff --git a/Rover-4.1/apm.pdef.xml b/Rover-4.1/apm.pdef.xml
index 6339a43..431fd80 100644
--- a/Rover-4.1/apm.pdef.xml
+++ b/Rover-4.1/apm.pdef.xml
@@ -1173,7 +1173,6 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="5">Navigator</value>
           <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
           <value code="14">CubeOrange</value>
           <value code="16">Durandal</value>
@@ -1185,7 +1184,7 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="4">CubeOrange_PM2</value>
           <value code="14">Pixhawk2_PM2</value>
           <value code="15">CubeOrange</value>
           <value code="17">Durandal</value>
@@ -1307,7 +1306,6 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="5">Navigator</value>
           <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
           <value code="14">CubeOrange</value>
           <value code="16">Durandal</value>
@@ -1319,7 +1317,7 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="4">CubeOrange_PM2</value>
           <value code="14">Pixhawk2_PM2</value>
           <value code="15">CubeOrange</value>
           <value code="17">Durandal</value>
@@ -1441,7 +1439,6 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="5">Navigator</value>
           <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
           <value code="14">CubeOrange</value>
           <value code="16">Durandal</value>
@@ -1453,7 +1450,7 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="4">CubeOrange_PM2</value>
           <value code="14">Pixhawk2_PM2</value>
           <value code="15">CubeOrange</value>
           <value code="17">Durandal</value>
@@ -1575,7 +1572,6 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="5">Navigator</value>
           <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
           <value code="14">CubeOrange</value>
           <value code="16">Durandal</value>
@@ -1587,7 +1583,7 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="4">CubeOrange_PM2</value>
           <value code="14">Pixhawk2_PM2</value>
           <value code="15">CubeOrange</value>
           <value code="17">Durandal</value>
@@ -1709,7 +1705,6 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="5">Navigator</value>
           <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
           <value code="14">CubeOrange</value>
           <value code="16">Durandal</value>
@@ -1721,7 +1716,7 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="4">CubeOrange_PM2</value>
           <value code="14">Pixhawk2_PM2</value>
           <value code="15">CubeOrange</value>
           <value code="17">Durandal</value>
@@ -1843,7 +1838,6 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="5">Navigator</value>
           <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
           <value code="14">CubeOrange</value>
           <value code="16">Durandal</value>
@@ -1855,7 +1849,7 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="4">CubeOrange_PM2</value>
           <value code="14">Pixhawk2_PM2</value>
           <value code="15">CubeOrange</value>
           <value code="17">Durandal</value>
@@ -1977,7 +1971,6 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="5">Navigator</value>
           <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
           <value code="14">CubeOrange</value>
           <value code="16">Durandal</value>
@@ -1989,7 +1982,7 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="4">CubeOrange_PM2</value>
           <value code="14">Pixhawk2_PM2</value>
           <value code="15">CubeOrange</value>
           <value code="17">Durandal</value>
@@ -2111,7 +2104,6 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="5">Navigator</value>
           <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
           <value code="14">CubeOrange</value>
           <value code="16">Durandal</value>
@@ -2123,7 +2115,7 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="4">CubeOrange_PM2</value>
           <value code="14">Pixhawk2_PM2</value>
           <value code="15">CubeOrange</value>
           <value code="17">Durandal</value>
@@ -2245,7 +2237,6 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="5">Navigator</value>
           <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
           <value code="14">CubeOrange</value>
           <value code="16">Durandal</value>
@@ -2257,7 +2248,7 @@
         <values>
           <value code="-1">Disabled</value>
           <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="4">CubeOrange_PM2</value>
           <value code="14">Pixhawk2_PM2</value>
           <value code="15">CubeOrange</value>
           <value code="17">Durandal</value>
@@ -3091,6 +3082,7 @@
           <value code="5">CANTester</value>
           <value code="8">KDECAN</value>
           <value code="9">PacketDigitalCAN</value>
+          <value code="11">Benewake</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -3164,6 +3156,7 @@
           <value code="5">CANTester</value>
           <value code="8">KDECAN</value>
           <value code="9">PacketDigitalCAN</value>
+          <value code="11">Benewake</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -3237,6 +3230,7 @@
           <value code="5">CANTester</value>
           <value code="8">KDECAN</value>
           <value code="9">PacketDigitalCAN</value>
+          <value code="11">Benewake</value>
         </values>
         <field name="RebootRequired">True</field>
       </param>
@@ -11781,6 +11775,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -11915,6 +11910,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND1_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND1_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND2_">
       <param humanName="Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -11952,6 +11953,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -12086,6 +12088,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND2_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND2_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND3_">
       <param humanName="Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -12123,6 +12131,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -12257,6 +12266,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND3_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND3_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND4_">
       <param humanName="Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -12294,6 +12309,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -12428,6 +12444,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND4_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND4_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND5_">
       <param humanName="Rangefinder type" name="RNGFND5_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -12465,6 +12487,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -12599,6 +12622,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND5_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND5_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND6_">
       <param humanName="Rangefinder type" name="RNGFND6_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -12636,6 +12665,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -12770,6 +12800,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND6_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND6_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND7_">
       <param humanName="Rangefinder type" name="RNGFND7_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -12807,6 +12843,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -12941,6 +12978,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND7_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND7_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND8_">
       <param humanName="Rangefinder type" name="RNGFND8_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -12978,6 +13021,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -13112,6 +13156,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND8_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND8_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFND9_">
       <param humanName="Rangefinder type" name="RNGFND9_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -13149,6 +13199,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -13283,6 +13334,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFND9_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFND9_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RNGFNDA_">
       <param humanName="Rangefinder type" name="RNGFNDA_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
@@ -13320,6 +13377,7 @@
           <value code="31">GYUS42v2</value>
           <value code="32">MSP</value>
           <value code="33">USD1_CAN</value>
+          <value code="34">Benewake_CAN</value>
           <value code="100">SITL</value>
         </values>
       </param>
@@ -13454,6 +13512,12 @@
           <value code="1">High Speed</value>
         </values>
       </param>
+      <param humanName="CAN receive ID" name="RNGFNDA_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
+      <param humanName="Minimum signal strength" name="RNGFNDA_SNR_MIN" documentation="Minimum signal strength (SNR) to accept distance" user="Advanced">
+        <field name="Range">0 65535</field>
+      </param>
     </parameters>
     <parameters name="RPM">
       <param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
diff --git a/Sub-4.1/ParameterMetaData.xml b/Sub-4.1/ParameterMetaData.xml
index 309a86a..8e399e8 100644
--- a/Sub-4.1/ParameterMetaData.xml
+++ b/Sub-4.1/ParameterMetaData.xml
@@ -853,10 +853,10 @@
       <User>Advanced</User>
     </BARO_ALT_OFFSET>
     <BARO_EXT_BUS>
-      <Description>This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter.</Description>
+      <Description>This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.</Description>
       <DisplayName>External baro bus</DisplayName>
       <User>Advanced</User>
-      <Values>-1:Disabled,0:Bus0,1:Bus1</Values>
+      <Values>-1:Disabled,0:Bus0,1:Bus1,6:Bus6</Values>
     </BARO_EXT_BUS>
     <BARO_FLTR_RNG>
       <Description>This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.</Description>
@@ -881,7 +881,7 @@
     </BARO_PRIMARY>
     <BARO_PROBE_EXT>
       <Bitmask>0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP</Bitmask>
-      <Description>This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.</Description>
+      <Description>This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.</Description>
       <DisplayName>External barometers to probe</DisplayName>
       <User>Advanced</User>
     </BARO_PROBE_EXT>
@@ -3547,6 +3547,12 @@
       <User>Advanced</User>
       <Values>0:Disabled,1:Enabled</Values>
     </COMPASS_USE3>
+    <CONTROL_FRAME>
+      <Description>Control Frame used in stabilized modes</Description>
+      <DisplayName>Control Frame</DisplayName>
+      <User>Standard</User>
+      <Values>0:Standard,1:Body frame Yaw/Pitch/Roll</Values>
+    </CONTROL_FRAME>
     <EAHRS_RATE>
       <Description>Requested rate for AHRS device</Description>
       <DisplayName>AHRS data rate</DisplayName>
diff --git a/Sub-4.1/Parameters.html b/Sub-4.1/Parameters.html
index 2391085..fe66f61 100644
--- a/Sub-4.1/Parameters.html
+++ b/Sub-4.1/Parameters.html
@@ -444,6 +444,17 @@ <h2>Acro Expo (ArduSub:ACRO_EXPO)</h2><em>Note: This parameter is for advanced u
 </ul>
 
 
+<h2>Control Frame (ArduSub:CONTROL_FRAME)</h2>
+
+<p>Control Frame used in stabilized modes</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>Standard</td></tr>
+<tr><td>1</td><td>Body frame Yaw/Pitch/Roll</td></tr>
+</table>
+</ul>
+
+
 <h1>AHRS_ Parameters</h1>
 
 
@@ -1500,12 +1511,13 @@ <h2>Primary barometer (BARO_PRIMARY)</h2><em>Note: This parameter is for advance
 
 <h2>External baro bus (BARO_EXT_BUS)</h2><em>Note: This parameter is for advanced users</em><br>
 
-<p>This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter.</p>
+<p>This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.</p>
 <ul>
 <table><th>Value</th><th>Meaning</th>
 <tr><td>-1</td><td>Disabled</td></tr>
 <tr><td>0</td><td>Bus0</td></tr>
 <tr><td>1</td><td>Bus1</td></tr>
+<tr><td>6</td><td>Bus6</td></tr>
 </table>
 </ul>
 
@@ -1552,7 +1564,7 @@ <h2>Range in which sample is accepted (BARO_FLTR_RNG)</h2>
 
 <h2>External barometers to probe (BARO_PROBE_EXT)</h2><em>Note: This parameter is for advanced users</em><br>
 
-<p>This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.</p>
+<p>This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.</p>
 <ul>
 <li>Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP</li>
 </ul>
diff --git a/Sub-4.1/Parameters.md b/Sub-4.1/Parameters.md
index 73bbd1b..245e5c7 100644
--- a/Sub-4.1/Parameters.md
+++ b/Sub-4.1/Parameters.md
@@ -1,5 +1,5 @@
 
-This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code. Some parameters may only be available for developers, and are enabled at compile-time.
+This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. Some parameters may only be available for developers, and are enabled at compile-time.
 
 # ArduSub Parameters
 
@@ -397,6 +397,15 @@ Acro roll/pitch Expo to allow faster rotation when stick at edges
 |0.4|High|
 |0.5|Very High|
 
+## CONTROL_FRAME: Control Frame
+
+Control Frame used in stabilized modes
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Standard|
+|1|Body frame Yaw/Pitch/Roll|
+
 # AHRS Parameters
 
 ## AHRS_GPS_GAIN: AHRS GPS gain
@@ -1356,6 +1365,46 @@ Yaw axis rate controller input frequency in Hz
 
 - Units: Hz
 
+# AVOID Parameters
+
+## AVOID_ENABLE: Avoidance control enable/disable
+
+Enabled/disable avoidance input sources
+
+- Bitmask: 0:UseFence,1:UseProximitySensor,2:UseBeaconFence
+
+## AVOID_MARGIN: Avoidance distance margin in GPS modes
+
+Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes
+
+- Units: m
+
+- Range: 1 10
+
+## AVOID_BACKUP_SPD: Avoidance maximum backup speed
+
+Maximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable
+
+- Units: m/s
+
+- Range: 0 2
+
+## AVOID_ACCEL_MAX: Avoidance maximum acceleration
+
+Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits
+
+- Units: m/s/s
+
+- Range: 0 9
+
+## AVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle
+
+Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.
+
+- Units: m
+
+- Range: 0 2
+
 # BARO Parameters
 
 ## BARO1_GND_PRESS: Ground Pressure
@@ -1410,13 +1459,14 @@ This selects which barometer will be the primary if multiple barometers are foun
 
 *Note: This parameter is for advanced users*
 
-This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter.
+This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.
 
 |Value|Meaning|
 |:---:|:---:|
 |-1|Disabled|
 |0|Bus0|
 |1|Bus1|
+|6|Bus6|
 
 ## BARO_SPEC_GRAV: Specific Gravity (For water depth measurement)
 
@@ -1466,7 +1516,7 @@ This sets the range around the average value that new samples must be within to
 
 *Note: This parameter is for advanced users*
 
-This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.
+This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.
 
 - Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP
 
@@ -1494,115 +1544,9 @@ Barometer3 sensor ID, taking into account its type, bus and instance
 
 - ReadOnly: True
 
-# BARO1WCF Parameters
-
-## BARO1_WCF_ENABLE: Wind coefficient enable
-
-*Note: This parameter is for advanced users*
-
-This enables the use of wind coefficients for barometer compensation
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)
-
-*Note: This parameter is for advanced users*
-
-This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
-
-- Range: -1.0 1.0
-
-- Increment: 0.05
-
-## BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
-
-*Note: This parameter is for advanced users*
-
-This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
-
-- Range: -1.0 1.0
-
-- Increment: 0.05
-
-## BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)
-
-*Note: This parameter is for advanced users*
-
-This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
-
-- Range: -1.0 1.0
-
-- Increment: 0.05
-
-## BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)
-
-*Note: This parameter is for advanced users*
-
-This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
-
-- Range: -1.0 1.0
-
-- Increment: 0.05
-
-# BARO2WCF Parameters
-
-## BARO2_WCF_ENABLE: Wind coefficient enable
-
-*Note: This parameter is for advanced users*
-
-This enables the use of wind coefficients for barometer compensation
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)
-
-*Note: This parameter is for advanced users*
-
-This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
-
-- Range: -1.0 1.0
-
-- Increment: 0.05
-
-## BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
-
-*Note: This parameter is for advanced users*
-
-This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
-
-- Range: -1.0 1.0
-
-- Increment: 0.05
-
-## BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)
-
-*Note: This parameter is for advanced users*
-
-This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
-
-- Range: -1.0 1.0
-
-- Increment: 0.05
-
-## BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)
-
-*Note: This parameter is for advanced users*
+# BAROnWCF Parameters
 
-This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
-
-- Range: -1.0 1.0
-
-- Increment: 0.05
-
-# BARO3WCF Parameters
-
-## BARO3_WCF_ENABLE: Wind coefficient enable
+## BAROn_WCF_ENABLE: Wind coefficient enable
 
 *Note: This parameter is for advanced users*
 
@@ -1613,7 +1557,7 @@ This enables the use of wind coefficients for barometer compensation
 |0|Disabled|
 |1|Enabled|
 
-## BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)
+## BAROn_WCF_FWD: Pressure error coefficient in positive X direction (forward)
 
 *Note: This parameter is for advanced users*
 
@@ -1623,7 +1567,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a po
 
 - Increment: 0.05
 
-## BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
+## BAROn_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
 
 *Note: This parameter is for advanced users*
 
@@ -1633,7 +1577,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a ne
 
 - Increment: 0.05
 
-## BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)
+## BAROn_WCF_RGT: Pressure error coefficient in positive Y direction (right)
 
 *Note: This parameter is for advanced users*
 
@@ -1643,7 +1587,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a po
 
 - Increment: 0.05
 
-## BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)
+## BAROn_WCF_LFT: Pressure error coefficient in negative Y direction (left)
 
 *Note: This parameter is for advanced users*
 
@@ -1653,9 +1597,9 @@ This is the ratio of static pressure error to dynamic pressure generated by a ne
 
 - Increment: 0.05
 
-# BATT2 Parameters
+# BATTn Parameters
 
-## BATT2_MONITOR: Battery monitoring
+## BATTn_MONITOR: Battery monitoring
 
 Controls enabling monitoring of the battery's voltage and current
 
@@ -1682,7 +1626,7 @@ Controls enabling monitoring of the battery's voltage and current
 
 - RebootRequired: True
 
-## BATT2_VOLT_PIN: Battery Voltage sensing pin
+## BATTn_VOLT_PIN: Battery Voltage sensing pin
 
 Sets the analog input pin that should be used for voltage monitoring.
 
@@ -1698,7 +1642,7 @@ Sets the analog input pin that should be used for voltage monitoring.
 
 - RebootRequired: True
 
-## BATT2_CURR_PIN: Battery Current sensing pin
+## BATTn_CURR_PIN: Battery Current sensing pin
 
 Sets the analog input pin that should be used for current monitoring.
 
@@ -1714,25 +1658,25 @@ Sets the analog input pin that should be used for current monitoring.
 
 - RebootRequired: True
 
-## BATT2_VOLT_MULT: Voltage Multiplier
+## BATTn_VOLT_MULT: Voltage Multiplier
 
 *Note: This parameter is for advanced users*
 
 Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
 
-## BATT2_AMP_PERVLT: Amps per volt
+## BATTn_AMP_PERVLT: Amps per volt
 
 Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
 
 - Units: A/V
 
-## BATT2_AMP_OFFSET: AMP offset
+## BATTn_AMP_OFFSET: AMP offset
 
 Voltage offset at zero current on current sensor
 
 - Units: V
 
-## BATT2_CAPACITY: Battery capacity
+## BATTn_CAPACITY: Battery capacity
 
 Capacity of the battery in mAh when full
 
@@ -1740,13 +1684,13 @@ Capacity of the battery in mAh when full
 
 - Increment: 50
 
-## BATT2_SERIAL_NUM: Battery serial number
+## BATTn_SERIAL_NUM: Battery serial number
 
 *Note: This parameter is for advanced users*
 
 Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
 
-## BATT2_LOW_TIMER: Low voltage timeout
+## BATTn_LOW_TIMER: Low voltage timeout
 
 *Note: This parameter is for advanced users*
 
@@ -1758,7 +1702,7 @@ This is the timeout in seconds before a low voltage event will be triggered. For
 
 - Range: 0 120
 
-## BATT2_FS_VOLTSRC: Failsafe voltage source
+## BATTn_FS_VOLTSRC: Failsafe voltage source
 
 *Note: This parameter is for advanced users*
 
@@ -1769,7 +1713,7 @@ Voltage type used for detection of low voltage event
 |0|Raw Voltage|
 |1|Sag Compensated Voltage|
 
-## BATT2_LOW_VOLT: Low battery voltage
+## BATTn_LOW_VOLT: Low battery voltage
 
 Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
 
@@ -1777,7 +1721,7 @@ Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If th
 
 - Increment: 0.1
 
-## BATT2_LOW_MAH: Low battery capacity
+## BATTn_LOW_MAH: Low battery capacity
 
 Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
 
@@ -1785,7 +1729,7 @@ Battery capacity at which the low battery failsafe is triggered. Set to 0 to dis
 
 - Increment: 50
 
-## BATT2_CRT_VOLT: Critical battery voltage
+## BATTn_CRT_VOLT: Critical battery voltage
 
 Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
 
@@ -1793,7 +1737,7 @@ Battery voltage that triggers a critical battery failsafe. Set to 0 to disable.
 
 - Increment: 0.1
 
-## BATT2_CRT_MAH: Battery critical capacity
+## BATTn_CRT_MAH: Battery critical capacity
 
 Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.
 
@@ -1801,7 +1745,7 @@ Battery capacity at which the critical battery failsafe is triggered. Set to 0 t
 
 - Increment: 50
 
-## BATT2_FS_LOW_ACT: Low battery failsafe action
+## BATTn_FS_LOW_ACT: Low battery failsafe action
 
 What action the vehicle should perform if it hits a low battery failsafe
 
@@ -1811,7 +1755,7 @@ What action the vehicle should perform if it hits a low battery failsafe
 |2|Disarm|
 |3|Enter surface mode|
 
-## BATT2_FS_CRT_ACT: Critical battery failsafe action
+## BATTn_FS_CRT_ACT: Critical battery failsafe action
 
 What action the vehicle should perform if it hits a critical battery failsafe
 
@@ -1821,7 +1765,7 @@ What action the vehicle should perform if it hits a critical battery failsafe
 |2|Disarm|
 |3|Enter surface mode|
 
-## BATT2_ARM_VOLT: Required arming voltage
+## BATTn_ARM_VOLT: Required arming voltage
 
 *Note: This parameter is for advanced users*
 
@@ -1831,7 +1775,7 @@ Battery voltage level which is required to arm the aircraft. Set to 0 to allow a
 
 - Increment: 0.1
 
-## BATT2_ARM_MAH: Required arming remaining capacity
+## BATTn_ARM_MAH: Required arming remaining capacity
 
 *Note: This parameter is for advanced users*
 
@@ -1841,13 +1785,13 @@ Battery capacity remaining which is required to arm the aircraft. Set to 0 to al
 
 - Increment: 50
 
-## BATT2_BUS: Battery monitor I2C bus number
+## BATTn_BUS: Battery monitor I2C bus number
 
 Battery monitor I2C bus number
 
 - Range: 0 3
 
-## BATT2_OPTIONS: Battery monitor options
+## BATTn_OPTIONS: Battery monitor options
 
 *Note: This parameter is for advanced users*
 
@@ -1855,9 +1799,9 @@ This sets options to change the behaviour of the battery monitor
 
 - Bitmask: 0:Ignore UAVCAN SoC
 
-# BATT3 Parameters
+# BATT Parameters
 
-## BATT3_MONITOR: Battery monitoring
+## BATT_MONITOR: Battery monitoring
 
 Controls enabling monitoring of the battery's voltage and current
 
@@ -1884,7 +1828,7 @@ Controls enabling monitoring of the battery's voltage and current
 
 - RebootRequired: True
 
-## BATT3_VOLT_PIN: Battery Voltage sensing pin
+## BATT_VOLT_PIN: Battery Voltage sensing pin
 
 Sets the analog input pin that should be used for voltage monitoring.
 
@@ -1900,7 +1844,7 @@ Sets the analog input pin that should be used for voltage monitoring.
 
 - RebootRequired: True
 
-## BATT3_CURR_PIN: Battery Current sensing pin
+## BATT_CURR_PIN: Battery Current sensing pin
 
 Sets the analog input pin that should be used for current monitoring.
 
@@ -1916,25 +1860,25 @@ Sets the analog input pin that should be used for current monitoring.
 
 - RebootRequired: True
 
-## BATT3_VOLT_MULT: Voltage Multiplier
+## BATT_VOLT_MULT: Voltage Multiplier
 
 *Note: This parameter is for advanced users*
 
-Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
+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 with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
 
-## BATT3_AMP_PERVLT: Amps per volt
+## BATT_AMP_PERVLT: Amps per volt
 
 Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
 
 - Units: A/V
 
-## BATT3_AMP_OFFSET: AMP offset
+## BATT_AMP_OFFSET: AMP offset
 
 Voltage offset at zero current on current sensor
 
 - Units: V
 
-## BATT3_CAPACITY: Battery capacity
+## BATT_CAPACITY: Battery capacity
 
 Capacity of the battery in mAh when full
 
@@ -1942,13 +1886,13 @@ Capacity of the battery in mAh when full
 
 - Increment: 50
 
-## BATT3_SERIAL_NUM: Battery serial number
+## BATT_SERIAL_NUM: Battery serial number
 
 *Note: This parameter is for advanced users*
 
 Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
 
-## BATT3_LOW_TIMER: Low voltage timeout
+## BATT_LOW_TIMER: Low voltage timeout
 
 *Note: This parameter is for advanced users*
 
@@ -1960,7 +1904,7 @@ This is the timeout in seconds before a low voltage event will be triggered. For
 
 - Range: 0 120
 
-## BATT3_FS_VOLTSRC: Failsafe voltage source
+## BATT_FS_VOLTSRC: Failsafe voltage source
 
 *Note: This parameter is for advanced users*
 
@@ -1971,39 +1915,39 @@ Voltage type used for detection of low voltage event
 |0|Raw Voltage|
 |1|Sag Compensated Voltage|
 
-## BATT3_LOW_VOLT: Low battery voltage
+## BATT_LOW_VOLT: Low battery voltage
 
-Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
+Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
 
 - Units: V
 
 - Increment: 0.1
 
-## BATT3_LOW_MAH: Low battery capacity
+## BATT_LOW_MAH: Low battery capacity
 
-Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
+Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
 
 - Units: mAh
 
 - Increment: 50
 
-## BATT3_CRT_VOLT: Critical battery voltage
+## BATT_CRT_VOLT: Critical battery voltage
 
-Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
+Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
 
 - Units: V
 
 - Increment: 0.1
 
-## BATT3_CRT_MAH: Battery critical capacity
+## BATT_CRT_MAH: Battery critical capacity
 
-Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.
+Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.
 
 - Units: mAh
 
 - Increment: 50
 
-## BATT3_FS_LOW_ACT: Low battery failsafe action
+## BATT_FS_LOW_ACT: Low battery failsafe action
 
 What action the vehicle should perform if it hits a low battery failsafe
 
@@ -2013,7 +1957,7 @@ What action the vehicle should perform if it hits a low battery failsafe
 |2|Disarm|
 |3|Enter surface mode|
 
-## BATT3_FS_CRT_ACT: Critical battery failsafe action
+## BATT_FS_CRT_ACT: Critical battery failsafe action
 
 What action the vehicle should perform if it hits a critical battery failsafe
 
@@ -2023,7 +1967,7 @@ What action the vehicle should perform if it hits a critical battery failsafe
 |2|Disarm|
 |3|Enter surface mode|
 
-## BATT3_ARM_VOLT: Required arming voltage
+## BATT_ARM_VOLT: Required arming voltage
 
 *Note: This parameter is for advanced users*
 
@@ -2033,23 +1977,23 @@ Battery voltage level which is required to arm the aircraft. Set to 0 to allow a
 
 - Increment: 0.1
 
-## BATT3_ARM_MAH: Required arming remaining capacity
+## BATT_ARM_MAH: Required arming remaining capacity
 
 *Note: This parameter is for advanced users*
 
-Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.
+Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.
 
 - Units: mAh
 
 - Increment: 50
 
-## BATT3_BUS: Battery monitor I2C bus number
+## BATT_BUS: Battery monitor I2C bus number
 
 Battery monitor I2C bus number
 
 - Range: 0 3
 
-## BATT3_OPTIONS: Battery monitor options
+## BATT_OPTIONS: Battery monitor options
 
 *Note: This parameter is for advanced users*
 
@@ -2057,11392 +2001,7532 @@ This sets options to change the behaviour of the battery monitor
 
 - Bitmask: 0:Ignore UAVCAN SoC
 
-# BATT4 Parameters
+# BRD Parameters
+
+## BRD_PWM_COUNT: Auxiliary pin config
 
-## BATT4_MONITOR: Battery monitoring
+*Note: This parameter is for advanced users*
 
-Controls enabling monitoring of the battery's voltage and current
+Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|3|Analog Voltage Only|
-|4|Analog Voltage and Current|
-|5|Solo|
-|6|Bebop|
-|7|SMBus-Generic|
-|8|UAVCAN-BatteryInfo|
-|9|ESC|
-|10|SumOfFollowing|
-|11|FuelFlow|
-|12|FuelLevelPWM|
-|13|SMBUS-SUI3|
-|14|SMBUS-SUI6|
-|15|NeoDesign|
-|16|SMBus-Maxell|
-|17|Generator-Elec|
-|18|Generator-Fuel|
-|19|Rotoye|
+|0|No PWMs|
+|1|One PWMs|
+|2|Two PWMs|
+|3|Three PWMs|
+|4|Four PWMs|
+|5|Five PWMs|
+|6|Six PWMs|
+|7|Seven PWMs|
+|8|Eight PWMs|
 
 - RebootRequired: True
 
-## BATT4_VOLT_PIN: Battery Voltage sensing pin
+## BRD_SER1_RTSCTS: Serial 1 flow control
+
+*Note: This parameter is for advanced users*
 
-Sets the analog input pin that should be used for voltage monitoring.
+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.
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Disabled|
-|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|5|Navigator|
-|13|Pixhawk2_PM2/CubeOrange_PM2|
-|14|CubeOrange|
-|16|Durandal|
-|100|PX4-v1|
+|0|Disabled|
+|1|Enabled|
+|2|Auto|
 
 - RebootRequired: True
 
-## BATT4_CURR_PIN: Battery Current sensing pin
+## BRD_SER2_RTSCTS: Serial 2 flow control
 
-Sets the analog input pin that should be used for current monitoring.
+*Note: This parameter is for advanced users*
+
+Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. 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.
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Disabled|
-|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|4|CubeOrange_PM2/Navigator|
-|14|Pixhawk2_PM2|
-|15|CubeOrange|
-|17|Durandal|
-|101|PX4-v1|
+|0|Disabled|
+|1|Enabled|
+|2|Auto|
 
 - RebootRequired: True
 
-## BATT4_VOLT_MULT: Voltage Multiplier
+## BRD_SER3_RTSCTS: Serial 3 flow control
 
 *Note: This parameter is for advanced users*
 
-Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
-
-## BATT4_AMP_PERVLT: Amps per volt
-
-Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
-
-- Units: A/V
+Enable flow control on serial 3. 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.
 
-## BATT4_AMP_OFFSET: AMP offset
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+|2|Auto|
 
-Voltage offset at zero current on current sensor
+- RebootRequired: True
 
-- Units: V
+## BRD_SER4_RTSCTS: Serial 4 flow control
 
-## BATT4_CAPACITY: Battery capacity
+*Note: This parameter is for advanced users*
 
-Capacity of the battery in mAh when full
+Enable flow control on serial 4. 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.
 
-- Units: mAh
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+|2|Auto|
 
-- Increment: 50
+- RebootRequired: True
 
-## BATT4_SERIAL_NUM: Battery serial number
+## BRD_SER5_RTSCTS: Serial 5 flow control
 
 *Note: This parameter is for advanced users*
 
-Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
+Enable flow control on serial 5. 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.
 
-## BATT4_LOW_TIMER: Low voltage timeout
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+|2|Auto|
 
-*Note: This parameter is for advanced users*
+- RebootRequired: True
 
-This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
+## BRD_SAFETYENABLE: Enable use of safety arming switch
 
-- Units: s
+This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
 
-- Increment: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-- Range: 0 120
+- RebootRequired: True
 
-## BATT4_FS_VOLTSRC: Failsafe voltage source
+## BRD_SBUS_OUT:  SBUS output rate
 
 *Note: This parameter is for advanced users*
 
-Voltage type used for detection of low voltage event
+This sets the SBUS output frame rate in Hz
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Raw Voltage|
-|1|Sag Compensated Voltage|
-
-## BATT4_LOW_VOLT: Low battery voltage
+|0|Disabled|
+|1|50Hz|
+|2|75Hz|
+|3|100Hz|
+|4|150Hz|
+|5|200Hz|
+|6|250Hz|
+|7|300Hz|
 
-Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
+- RebootRequired: True
 
-- Units: V
+## BRD_SERIAL_NUM: User-defined serial number
 
-- Increment: 0.1
+User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
 
-## BATT4_LOW_MAH: Low battery capacity
+- Range: -32768 32767
 
-Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
+## BRD_SAFETY_MASK: Outputs which ignore the safety switch state
 
-- Units: mAh
+*Note: This parameter is for advanced users*
 
-- Increment: 50
+A bitmask which controls what outputs can move while the safety switch has not been pressed
 
-## BATT4_CRT_VOLT: Critical battery voltage
+- Bitmask: 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14
 
-Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
+- RebootRequired: True
 
-- Units: V
+## BRD_IMU_TARGTEMP: Target IMU temperature
 
-- Increment: 0.1
+*Note: This parameter is for advanced users*
 
-## BATT4_CRT_MAH: Battery critical capacity
+This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.
 
-Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.
+- Range: -1 80
 
-- Units: mAh
+- Units: degC
 
-- Increment: 50
+## BRD_TYPE: Board type
 
-## BATT4_FS_LOW_ACT: Low battery failsafe action
+*Note: This parameter is for advanced users*
 
-What action the vehicle should perform if it hits a low battery failsafe
+This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
+|0|AUTO|
+|1|PX4V1|
+|2|Pixhawk|
+|3|Cube/Pixhawk2|
+|4|Pixracer|
+|5|PixhawkMini|
+|6|Pixhawk2Slim|
+|13|Intel Aero FC|
+|14|Pixhawk Pro|
+|20|AUAV2.1|
+|21|PCNC1|
+|22|MINDPXV2|
+|23|SP01|
+|24|CUAVv5/FMUV5|
+|30|VRX BRAIN51|
+|32|VRX BRAIN52|
+|33|VRX BRAIN52E|
+|34|VRX UBRAIN51|
+|35|VRX UBRAIN52|
+|36|VRX CORE10|
+|38|VRX BRAIN54|
+|39|PX4 FMUV6|
+|100|PX4 OLDDRIVERS|
+
+- RebootRequired: True
 
-## BATT4_FS_CRT_ACT: Critical battery failsafe action
+## BRD_IO_ENABLE: Enable IO co-processor
 
-What action the vehicle should perform if it hits a critical battery failsafe
+*Note: This parameter is for advanced users*
+
+This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
-
-## BATT4_ARM_VOLT: Required arming voltage
+|0|Disabled|
+|1|Enabled|
 
-*Note: This parameter is for advanced users*
+- RebootRequired: True
 
-Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
+## BRD_SAFETYOPTION: Options for safety button behavior
 
-- Units: V
+This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
 
-- Increment: 0.1
+- Bitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms
 
-## BATT4_ARM_MAH: Required arming remaining capacity
+## BRD_VBUS_MIN: Autopilot board voltage requirement
 
 *Note: This parameter is for advanced users*
 
-Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.
-
-- Units: mAh
-
-- Increment: 50
+Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
 
-## BATT4_BUS: Battery monitor I2C bus number
+- Units: V
 
-Battery monitor I2C bus number
+- Range: 4.0 5.5
 
-- Range: 0 3
+- Increment: 0.1
 
-## BATT4_OPTIONS: Battery monitor options
+## BRD_VSERVO_MIN: Servo voltage requirement
 
 *Note: This parameter is for advanced users*
 
-This sets options to change the behaviour of the battery monitor
-
-- Bitmask: 0:Ignore UAVCAN SoC
+Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
 
-# BATT5 Parameters
+- Units: V
 
-## BATT5_MONITOR: Battery monitoring
+- Range: 3.3 12.0
 
-Controls enabling monitoring of the battery's voltage and current
+- Increment: 0.1
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|3|Analog Voltage Only|
-|4|Analog Voltage and Current|
-|5|Solo|
-|6|Bebop|
-|7|SMBus-Generic|
-|8|UAVCAN-BatteryInfo|
-|9|ESC|
-|10|SumOfFollowing|
-|11|FuelFlow|
-|12|FuelLevelPWM|
-|13|SMBUS-SUI3|
-|14|SMBUS-SUI6|
-|15|NeoDesign|
-|16|SMBus-Maxell|
-|17|Generator-Elec|
-|18|Generator-Fuel|
-|19|Rotoye|
+## BRD_SD_SLOWDOWN: microSD slowdown
 
-- RebootRequired: True
+*Note: This parameter is for advanced users*
 
-## BATT5_VOLT_PIN: Battery Voltage sensing pin
+This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.
 
-Sets the analog input pin that should be used for voltage monitoring.
+- Range: 0 32
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|5|Navigator|
-|13|Pixhawk2_PM2/CubeOrange_PM2|
-|14|CubeOrange|
-|16|Durandal|
-|100|PX4-v1|
+- Increment: 1
 
-- RebootRequired: True
+## BRD_PWM_VOLT_SEL: Set PWM Out Voltage
 
-## BATT5_CURR_PIN: Battery Current sensing pin
+*Note: This parameter is for advanced users*
 
-Sets the analog input pin that should be used for current monitoring.
+This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Disabled|
-|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|4|CubeOrange_PM2/Navigator|
-|14|Pixhawk2_PM2|
-|15|CubeOrange|
-|17|Durandal|
-|101|PX4-v1|
-
-- RebootRequired: True
+|0|3.3V|
+|1|5V|
 
-## BATT5_VOLT_MULT: Voltage Multiplier
+## BRD_OPTIONS: Board options
 
 *Note: This parameter is for advanced users*
 
-Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
-
-## BATT5_AMP_PERVLT: Amps per volt
-
-Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
-
-- Units: A/V
-
-## BATT5_AMP_OFFSET: AMP offset
-
-Voltage offset at zero current on current sensor
-
-- Units: V
-
-## BATT5_CAPACITY: Battery capacity
+Board specific option flags
 
-Capacity of the battery in mAh when full
+- Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins
 
-- Units: mAh
+## BRD_BOOT_DELAY: Boot delay
 
-- Increment: 50
+*Note: This parameter is for advanced users*
 
-## BATT5_SERIAL_NUM: Battery serial number
+This adds a delay in milliseconds to boot to ensure peripherals initialise fully
 
-*Note: This parameter is for advanced users*
+- Range: 0 10000
 
-Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
+- Units: ms
 
-## BATT5_LOW_TIMER: Low voltage timeout
+## BRD_IMUHEAT_P: IMU Heater P gain
 
 *Note: This parameter is for advanced users*
 
-This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
+IMU Heater P gain
 
-- Units: s
+- Range: 1 500
 
 - Increment: 1
 
-- Range: 0 120
-
-## BATT5_FS_VOLTSRC: Failsafe voltage source
+## BRD_IMUHEAT_I: IMU Heater I gain
 
 *Note: This parameter is for advanced users*
 
-Voltage type used for detection of low voltage event
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Raw Voltage|
-|1|Sag Compensated Voltage|
-
-## BATT5_LOW_VOLT: Low battery voltage
-
-Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
+IMU Heater integrator gain
 
-- Units: V
+- Range: 0 1
 
 - Increment: 0.1
 
-## BATT5_LOW_MAH: Low battery capacity
+## BRD_IMUHEAT_IMAX: IMU Heater IMAX
 
-Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
+*Note: This parameter is for advanced users*
 
-- Units: mAh
+IMU Heater integrator maximum
 
-- Increment: 50
+- Range: 0 100
 
-## BATT5_CRT_VOLT: Critical battery voltage
+- Increment: 1
 
-Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
+## BRD_ALT_CONFIG: Alternative HW config
 
-- Units: V
+*Note: This parameter is for advanced users*
 
-- Increment: 0.1
+Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.
 
-## BATT5_CRT_MAH: Battery critical capacity
+- Range: 0 10
 
-Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.
+- Increment: 1
 
-- Units: mAh
+- RebootRequired: True
 
-- Increment: 50
+# BRDRADIO Parameters
 
-## BATT5_FS_LOW_ACT: Low battery failsafe action
+## BRD_RADIO_TYPE: Set type of direct attached radio
 
-What action the vehicle should perform if it hits a low battery failsafe
+This enables support for direct attached radio receivers
 
 |Value|Meaning|
 |:---:|:---:|
 |0|None|
-|2|Disarm|
-|3|Enter surface mode|
+|1|CYRF6936|
+|2|CC2500|
+|3|BK2425|
 
-## BATT5_FS_CRT_ACT: Critical battery failsafe action
+## BRD_RADIO_PROT: protocol
 
-What action the vehicle should perform if it hits a critical battery failsafe
+*Note: This parameter is for advanced users*
+
+Select air protocol
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
+|0|Auto|
+|1|DSM2|
+|2|DSMX|
 
-## BATT5_ARM_VOLT: Required arming voltage
+## BRD_RADIO_DEBUG: debug level
 
 *Note: This parameter is for advanced users*
 
-Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
-
-- Units: V
+radio debug level
 
-- Increment: 0.1
+- Range: 0 4
 
-## BATT5_ARM_MAH: Required arming remaining capacity
+## BRD_RADIO_DISCRC: disable receive CRC
 
 *Note: This parameter is for advanced users*
 
-Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.
+disable receive CRC (for debug)
 
-- Units: mAh
+|Value|Meaning|
+|:---:|:---:|
+|0|NotDisabled|
+|1|Disabled|
 
-- Increment: 50
+## BRD_RADIO_SIGCH: RSSI signal strength
 
-## BATT5_BUS: Battery monitor I2C bus number
+*Note: This parameter is for advanced users*
 
-Battery monitor I2C bus number
+Channel to show receive RSSI signal strength, or zero for disabled
 
-- Range: 0 3
+- Range: 0 16
 
-## BATT5_OPTIONS: Battery monitor options
+## BRD_RADIO_PPSCH: Packet rate channel
 
 *Note: This parameter is for advanced users*
 
-This sets options to change the behaviour of the battery monitor
+Channel to show received packet-per-second rate, or zero for disabled
 
-- Bitmask: 0:Ignore UAVCAN SoC
+- Range: 0 16
 
-# BATT6 Parameters
+## BRD_RADIO_TELEM: Enable telemetry
 
-## BATT6_MONITOR: Battery monitoring
+*Note: This parameter is for advanced users*
 
-Controls enabling monitoring of the battery's voltage and current
+If this is non-zero then telemetry packets will be sent over DSM
 
 |Value|Meaning|
 |:---:|:---:|
 |0|Disabled|
-|3|Analog Voltage Only|
-|4|Analog Voltage and Current|
-|5|Solo|
-|6|Bebop|
-|7|SMBus-Generic|
-|8|UAVCAN-BatteryInfo|
-|9|ESC|
-|10|SumOfFollowing|
-|11|FuelFlow|
-|12|FuelLevelPWM|
-|13|SMBUS-SUI3|
-|14|SMBUS-SUI6|
-|15|NeoDesign|
-|16|SMBus-Maxell|
-|17|Generator-Elec|
-|18|Generator-Fuel|
-|19|Rotoye|
+|1|Enabled|
 
-- RebootRequired: True
+## BRD_RADIO_TXPOW: Telemetry Transmit power
 
-## BATT6_VOLT_PIN: Battery Voltage sensing pin
+*Note: This parameter is for advanced users*
 
-Sets the analog input pin that should be used for voltage monitoring.
+Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|5|Navigator|
-|13|Pixhawk2_PM2/CubeOrange_PM2|
-|14|CubeOrange|
-|16|Durandal|
-|100|PX4-v1|
+- Range: 1 8
 
-- RebootRequired: True
+## BRD_RADIO_FCCTST: Put radio into FCC test mode
 
-## BATT6_CURR_PIN: Battery Current sensing pin
+*Note: This parameter is for advanced users*
 
-Sets the analog input pin that should be used for current monitoring.
+If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Disabled|
-|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|4|CubeOrange_PM2/Navigator|
-|14|Pixhawk2_PM2|
-|15|CubeOrange|
-|17|Durandal|
-|101|PX4-v1|
-
-- RebootRequired: True
-
-## BATT6_VOLT_MULT: Voltage Multiplier
-
-*Note: This parameter is for advanced users*
-
-Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
-
-## BATT6_AMP_PERVLT: Amps per volt
-
-Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
-
-- Units: A/V
-
-## BATT6_AMP_OFFSET: AMP offset
-
-Voltage offset at zero current on current sensor
-
-- Units: V
-
-## BATT6_CAPACITY: Battery capacity
-
-Capacity of the battery in mAh when full
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT6_SERIAL_NUM: Battery serial number
-
-*Note: This parameter is for advanced users*
-
-Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
+|0|Disabled|
+|1|MinChannel|
+|2|MidChannel|
+|3|MaxChannel|
+|4|MinChannelCW|
+|5|MidChannelCW|
+|6|MaxChannelCW|
 
-## BATT6_LOW_TIMER: Low voltage timeout
+## BRD_RADIO_STKMD: Stick input mode
 
 *Note: This parameter is for advanced users*
 
-This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
-
-- Units: s
-
-- Increment: 1
+This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.
 
-- Range: 0 120
+|Value|Meaning|
+|:---:|:---:|
+|1|Mode1|
+|2|Mode2|
 
-## BATT6_FS_VOLTSRC: Failsafe voltage source
+## BRD_RADIO_TESTCH: Set radio to factory test channel
 
 *Note: This parameter is for advanced users*
 
-Voltage type used for detection of low voltage event
+This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Raw Voltage|
-|1|Sag Compensated Voltage|
-
-## BATT6_LOW_VOLT: Low battery voltage
-
-Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
+|0|Disabled|
+|1|TestChan1|
+|2|TestChan2|
+|3|TestChan3|
+|4|TestChan4|
+|5|TestChan5|
+|6|TestChan6|
+|7|TestChan7|
+|8|TestChan8|
 
-- Units: V
+## BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter
 
-- Increment: 0.1
+*Note: This parameter is for advanced users*
 
-## BATT6_LOW_MAH: Low battery capacity
+Channel to show telemetry RSSI value as received by TX
 
-Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
+- Range: 0 16
 
-- Units: mAh
+## BRD_RADIO_TPPSCH: Telemetry PPS channel
 
-- Increment: 50
+*Note: This parameter is for advanced users*
 
-## BATT6_CRT_VOLT: Critical battery voltage
+Channel to show telemetry packets-per-second value, as received at TX
 
-Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
+- Range: 0 16
 
-- Units: V
+## BRD_RADIO_TXMAX: Transmitter transmit power
 
-- Increment: 0.1
+*Note: This parameter is for advanced users*
 
-## BATT6_CRT_MAH: Battery critical capacity
+Set transmitter maximum transmit power (from 1 to 8)
 
-Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.
+- Range: 1 8
 
-- Units: mAh
+## BRD_RADIO_BZOFS: Transmitter buzzer adjustment
 
-- Increment: 50
+*Note: This parameter is for advanced users*
 
-## BATT6_FS_LOW_ACT: Low battery failsafe action
+Set transmitter buzzer note adjustment (adjust frequency up)
 
-What action the vehicle should perform if it hits a low battery failsafe
+- Range: 0 40
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
+## BRD_RADIO_ABTIME: Auto-bind time
 
-## BATT6_FS_CRT_ACT: Critical battery failsafe action
+*Note: This parameter is for advanced users*
 
-What action the vehicle should perform if it hits a critical battery failsafe
+When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
+- Range: 0 120
 
-## BATT6_ARM_VOLT: Required arming voltage
+## BRD_RADIO_ABLVL: Auto-bind level
 
 *Note: This parameter is for advanced users*
 
-Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
+This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially
 
-- Units: V
+- Range: 0 31
 
-- Increment: 0.1
+# BRDRTC Parameters
 
-## BATT6_ARM_MAH: Required arming remaining capacity
+## BRD_RTC_TYPES: Allowed sources of RTC time
 
 *Note: This parameter is for advanced users*
 
-Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT6_BUS: Battery monitor I2C bus number
-
-Battery monitor I2C bus number
+Specifies which sources of UTC time will be accepted
 
-- Range: 0 3
+- Bitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW
 
-## BATT6_OPTIONS: Battery monitor options
+## BRD_RTC_TZ_MIN: Timezone offset from UTC
 
 *Note: This parameter is for advanced users*
 
-This sets options to change the behaviour of the battery monitor
+Adds offset in +- minutes from UTC to calculate local time
 
-- Bitmask: 0:Ignore UAVCAN SoC
+- Range: -720 +840
 
-# BATT7 Parameters
+# BTNn Parameters
 
-## BATT7_MONITOR: Battery monitoring
+## BTNn_FUNCTION: Function for button
 
-Controls enabling monitoring of the battery's voltage and current
+Set to 0 to disable or choose a function
 
 |Value|Meaning|
 |:---:|:---:|
 |0|Disabled|
-|3|Analog Voltage Only|
-|4|Analog Voltage and Current|
-|5|Solo|
-|6|Bebop|
-|7|SMBus-Generic|
-|8|UAVCAN-BatteryInfo|
-|9|ESC|
-|10|SumOfFollowing|
-|11|FuelFlow|
-|12|FuelLevelPWM|
-|13|SMBUS-SUI3|
-|14|SMBUS-SUI6|
-|15|NeoDesign|
-|16|SMBus-Maxell|
-|17|Generator-Elec|
-|18|Generator-Fuel|
-|19|Rotoye|
-
-- RebootRequired: True
-
-## BATT7_VOLT_PIN: Battery Voltage sensing pin
-
-Sets the analog input pin that should be used for voltage monitoring.
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|5|Navigator|
-|13|Pixhawk2_PM2/CubeOrange_PM2|
-|14|CubeOrange|
-|16|Durandal|
-|100|PX4-v1|
-
-- RebootRequired: True
-
-## BATT7_CURR_PIN: Battery Current sensing pin
-
-Sets the analog input pin that should be used for current monitoring.
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|4|CubeOrange_PM2/Navigator|
-|14|Pixhawk2_PM2|
-|15|CubeOrange|
-|17|Durandal|
-|101|PX4-v1|
-
-- RebootRequired: True
-
-## BATT7_VOLT_MULT: Voltage Multiplier
-
-*Note: This parameter is for advanced users*
-
-Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
-
-## BATT7_AMP_PERVLT: Amps per volt
-
-Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
-
-- Units: A/V
-
-## BATT7_AMP_OFFSET: AMP offset
-
-Voltage offset at zero current on current sensor
-
-- Units: V
-
-## BATT7_CAPACITY: Battery capacity
-
-Capacity of the battery in mAh when full
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT7_SERIAL_NUM: Battery serial number
-
-*Note: This parameter is for advanced users*
-
-Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
-
-## BATT7_LOW_TIMER: Low voltage timeout
-
-*Note: This parameter is for advanced users*
-
-This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
-
-- Units: s
-
-- Increment: 1
-
-- Range: 0 120
-
-## BATT7_FS_VOLTSRC: Failsafe voltage source
-
-*Note: This parameter is for advanced users*
-
-Voltage type used for detection of low voltage event
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Raw Voltage|
-|1|Sag Compensated Voltage|
-
-## BATT7_LOW_VOLT: Low battery voltage
-
-Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT7_LOW_MAH: Low battery capacity
-
-Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT7_CRT_VOLT: Critical battery voltage
-
-Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT7_CRT_MAH: Battery critical capacity
-
-Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT7_FS_LOW_ACT: Low battery failsafe action
-
-What action the vehicle should perform if it hits a low battery failsafe
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
-
-## BATT7_FS_CRT_ACT: Critical battery failsafe action
-
-What action the vehicle should perform if it hits a critical battery failsafe
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
-
-## BATT7_ARM_VOLT: Required arming voltage
-
-*Note: This parameter is for advanced users*
-
-Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT7_ARM_MAH: Required arming remaining capacity
-
-*Note: This parameter is for advanced users*
-
-Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT7_BUS: Battery monitor I2C bus number
-
-Battery monitor I2C bus number
-
-- Range: 0 3
-
-## BATT7_OPTIONS: Battery monitor options
-
-*Note: This parameter is for advanced users*
-
-This sets options to change the behaviour of the battery monitor
-
-- Bitmask: 0:Ignore UAVCAN SoC
-
-# BATT8 Parameters
-
-## BATT8_MONITOR: Battery monitoring
-
-Controls enabling monitoring of the battery's voltage and current
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|3|Analog Voltage Only|
-|4|Analog Voltage and Current|
-|5|Solo|
-|6|Bebop|
-|7|SMBus-Generic|
-|8|UAVCAN-BatteryInfo|
-|9|ESC|
-|10|SumOfFollowing|
-|11|FuelFlow|
-|12|FuelLevelPWM|
-|13|SMBUS-SUI3|
-|14|SMBUS-SUI6|
-|15|NeoDesign|
-|16|SMBus-Maxell|
-|17|Generator-Elec|
-|18|Generator-Fuel|
-|19|Rotoye|
-
-- RebootRequired: True
-
-## BATT8_VOLT_PIN: Battery Voltage sensing pin
-
-Sets the analog input pin that should be used for voltage monitoring.
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|5|Navigator|
-|13|Pixhawk2_PM2/CubeOrange_PM2|
-|14|CubeOrange|
-|16|Durandal|
-|100|PX4-v1|
-
-- RebootRequired: True
-
-## BATT8_CURR_PIN: Battery Current sensing pin
-
-Sets the analog input pin that should be used for current monitoring.
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|4|CubeOrange_PM2/Navigator|
-|14|Pixhawk2_PM2|
-|15|CubeOrange|
-|17|Durandal|
-|101|PX4-v1|
-
-- RebootRequired: True
-
-## BATT8_VOLT_MULT: Voltage Multiplier
-
-*Note: This parameter is for advanced users*
-
-Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
-
-## BATT8_AMP_PERVLT: Amps per volt
-
-Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
-
-- Units: A/V
-
-## BATT8_AMP_OFFSET: AMP offset
-
-Voltage offset at zero current on current sensor
-
-- Units: V
-
-## BATT8_CAPACITY: Battery capacity
-
-Capacity of the battery in mAh when full
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT8_SERIAL_NUM: Battery serial number
-
-*Note: This parameter is for advanced users*
-
-Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
-
-## BATT8_LOW_TIMER: Low voltage timeout
-
-*Note: This parameter is for advanced users*
-
-This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
-
-- Units: s
-
-- Increment: 1
-
-- Range: 0 120
-
-## BATT8_FS_VOLTSRC: Failsafe voltage source
-
-*Note: This parameter is for advanced users*
-
-Voltage type used for detection of low voltage event
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Raw Voltage|
-|1|Sag Compensated Voltage|
-
-## BATT8_LOW_VOLT: Low battery voltage
-
-Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT8_LOW_MAH: Low battery capacity
-
-Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT8_CRT_VOLT: Critical battery voltage
-
-Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT8_CRT_MAH: Battery critical capacity
-
-Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT8_FS_LOW_ACT: Low battery failsafe action
-
-What action the vehicle should perform if it hits a low battery failsafe
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
-
-## BATT8_FS_CRT_ACT: Critical battery failsafe action
-
-What action the vehicle should perform if it hits a critical battery failsafe
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
-
-## BATT8_ARM_VOLT: Required arming voltage
-
-*Note: This parameter is for advanced users*
-
-Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT8_ARM_MAH: Required arming remaining capacity
-
-*Note: This parameter is for advanced users*
-
-Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT8_BUS: Battery monitor I2C bus number
-
-Battery monitor I2C bus number
-
-- Range: 0 3
-
-## BATT8_OPTIONS: Battery monitor options
-
-*Note: This parameter is for advanced users*
-
-This sets options to change the behaviour of the battery monitor
-
-- Bitmask: 0:Ignore UAVCAN SoC
-
-# BATT9 Parameters
-
-## BATT9_MONITOR: Battery monitoring
-
-Controls enabling monitoring of the battery's voltage and current
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|3|Analog Voltage Only|
-|4|Analog Voltage and Current|
-|5|Solo|
-|6|Bebop|
-|7|SMBus-Generic|
-|8|UAVCAN-BatteryInfo|
-|9|ESC|
-|10|SumOfFollowing|
-|11|FuelFlow|
-|12|FuelLevelPWM|
-|13|SMBUS-SUI3|
-|14|SMBUS-SUI6|
-|15|NeoDesign|
-|16|SMBus-Maxell|
-|17|Generator-Elec|
-|18|Generator-Fuel|
-|19|Rotoye|
-
-- RebootRequired: True
-
-## BATT9_VOLT_PIN: Battery Voltage sensing pin
-
-Sets the analog input pin that should be used for voltage monitoring.
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|5|Navigator|
-|13|Pixhawk2_PM2/CubeOrange_PM2|
-|14|CubeOrange|
-|16|Durandal|
-|100|PX4-v1|
-
-- RebootRequired: True
-
-## BATT9_CURR_PIN: Battery Current sensing pin
-
-Sets the analog input pin that should be used for current monitoring.
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|4|CubeOrange_PM2/Navigator|
-|14|Pixhawk2_PM2|
-|15|CubeOrange|
-|17|Durandal|
-|101|PX4-v1|
-
-- RebootRequired: True
-
-## BATT9_VOLT_MULT: Voltage Multiplier
-
-*Note: This parameter is for advanced users*
-
-Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
-
-## BATT9_AMP_PERVLT: Amps per volt
-
-Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
-
-- Units: A/V
-
-## BATT9_AMP_OFFSET: AMP offset
-
-Voltage offset at zero current on current sensor
-
-- Units: V
-
-## BATT9_CAPACITY: Battery capacity
-
-Capacity of the battery in mAh when full
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT9_SERIAL_NUM: Battery serial number
-
-*Note: This parameter is for advanced users*
-
-Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
-
-## BATT9_LOW_TIMER: Low voltage timeout
-
-*Note: This parameter is for advanced users*
-
-This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
-
-- Units: s
-
-- Increment: 1
-
-- Range: 0 120
-
-## BATT9_FS_VOLTSRC: Failsafe voltage source
-
-*Note: This parameter is for advanced users*
-
-Voltage type used for detection of low voltage event
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Raw Voltage|
-|1|Sag Compensated Voltage|
-
-## BATT9_LOW_VOLT: Low battery voltage
-
-Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT9_LOW_MAH: Low battery capacity
-
-Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT9_CRT_VOLT: Critical battery voltage
-
-Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT9_CRT_MAH: Battery critical capacity
-
-Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT9_FS_LOW_ACT: Low battery failsafe action
-
-What action the vehicle should perform if it hits a low battery failsafe
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
-
-## BATT9_FS_CRT_ACT: Critical battery failsafe action
-
-What action the vehicle should perform if it hits a critical battery failsafe
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
-
-## BATT9_ARM_VOLT: Required arming voltage
-
-*Note: This parameter is for advanced users*
-
-Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT9_ARM_MAH: Required arming remaining capacity
-
-*Note: This parameter is for advanced users*
-
-Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT9_BUS: Battery monitor I2C bus number
-
-Battery monitor I2C bus number
-
-- Range: 0 3
-
-## BATT9_OPTIONS: Battery monitor options
-
-*Note: This parameter is for advanced users*
-
-This sets options to change the behaviour of the battery monitor
-
-- Bitmask: 0:Ignore UAVCAN SoC
-
-# BATT Parameters
-
-## BATT_MONITOR: Battery monitoring
-
-Controls enabling monitoring of the battery's voltage and current
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|3|Analog Voltage Only|
-|4|Analog Voltage and Current|
-|5|Solo|
-|6|Bebop|
-|7|SMBus-Generic|
-|8|UAVCAN-BatteryInfo|
-|9|ESC|
-|10|SumOfFollowing|
-|11|FuelFlow|
-|12|FuelLevelPWM|
-|13|SMBUS-SUI3|
-|14|SMBUS-SUI6|
-|15|NeoDesign|
-|16|SMBus-Maxell|
-|17|Generator-Elec|
-|18|Generator-Fuel|
-|19|Rotoye|
-
-- RebootRequired: True
-
-## BATT_VOLT_PIN: Battery Voltage sensing pin
-
-Sets the analog input pin that should be used for voltage monitoring.
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|5|Navigator|
-|13|Pixhawk2_PM2/CubeOrange_PM2|
-|14|CubeOrange|
-|16|Durandal|
-|100|PX4-v1|
-
-- RebootRequired: True
-
-## BATT_CURR_PIN: Battery Current sensing pin
-
-Sets the analog input pin that should be used for current monitoring.
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1|
-|4|CubeOrange_PM2/Navigator|
-|14|Pixhawk2_PM2|
-|15|CubeOrange|
-|17|Durandal|
-|101|PX4-v1|
-
-- RebootRequired: True
-
-## BATT_VOLT_MULT: Voltage Multiplier
-
-*Note: This parameter is for advanced users*
-
-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 with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
-
-## BATT_AMP_PERVLT: Amps per volt
-
-Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
-
-- Units: A/V
-
-## BATT_AMP_OFFSET: AMP offset
-
-Voltage offset at zero current on current sensor
-
-- Units: V
-
-## BATT_CAPACITY: Battery capacity
-
-Capacity of the battery in mAh when full
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT_SERIAL_NUM: Battery serial number
-
-*Note: This parameter is for advanced users*
-
-Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
-
-## BATT_LOW_TIMER: Low voltage timeout
-
-*Note: This parameter is for advanced users*
-
-This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
-
-- Units: s
-
-- Increment: 1
-
-- Range: 0 120
-
-## BATT_FS_VOLTSRC: Failsafe voltage source
-
-*Note: This parameter is for advanced users*
-
-Voltage type used for detection of low voltage event
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Raw Voltage|
-|1|Sag Compensated Voltage|
-
-## BATT_LOW_VOLT: Low battery voltage
-
-Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT_LOW_MAH: Low battery capacity
-
-Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT_CRT_VOLT: Critical battery voltage
-
-Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT_CRT_MAH: Battery critical capacity
-
-Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT_FS_LOW_ACT: Low battery failsafe action
-
-What action the vehicle should perform if it hits a low battery failsafe
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
-
-## BATT_FS_CRT_ACT: Critical battery failsafe action
-
-What action the vehicle should perform if it hits a critical battery failsafe
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|2|Disarm|
-|3|Enter surface mode|
-
-## BATT_ARM_VOLT: Required arming voltage
-
-*Note: This parameter is for advanced users*
-
-Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
-
-- Units: V
-
-- Increment: 0.1
-
-## BATT_ARM_MAH: Required arming remaining capacity
-
-*Note: This parameter is for advanced users*
-
-Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.
-
-- Units: mAh
-
-- Increment: 50
-
-## BATT_BUS: Battery monitor I2C bus number
-
-Battery monitor I2C bus number
-
-- Range: 0 3
-
-## BATT_OPTIONS: Battery monitor options
-
-*Note: This parameter is for advanced users*
-
-This sets options to change the behaviour of the battery monitor
-
-- Bitmask: 0:Ignore UAVCAN SoC
-
-# BRD Parameters
-
-## BRD_PWM_COUNT: Auxiliary pin config
-
-*Note: This parameter is for advanced users*
-
-Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO
-
-|Value|Meaning|
-|:---:|:---:|
-|0|No PWMs|
-|1|One PWMs|
-|2|Two PWMs|
-|3|Three PWMs|
-|4|Four PWMs|
-|5|Five PWMs|
-|6|Six PWMs|
-|7|Seven PWMs|
-|8|Eight PWMs|
-
-- RebootRequired: True
-
-## BRD_SER1_RTSCTS: Serial 1 flow control
-
-*Note: This parameter is for advanced users*
-
-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.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-|2|Auto|
-
-- RebootRequired: True
-
-## BRD_SER2_RTSCTS: Serial 2 flow control
-
-*Note: This parameter is for advanced users*
-
-Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. 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.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-|2|Auto|
-
-- RebootRequired: True
-
-## BRD_SER3_RTSCTS: Serial 3 flow control
-
-*Note: This parameter is for advanced users*
-
-Enable flow control on serial 3. 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.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-|2|Auto|
-
-- RebootRequired: True
-
-## BRD_SER4_RTSCTS: Serial 4 flow control
-
-*Note: This parameter is for advanced users*
-
-Enable flow control on serial 4. 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.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-|2|Auto|
-
-- RebootRequired: True
-
-## BRD_SER5_RTSCTS: Serial 5 flow control
-
-*Note: This parameter is for advanced users*
-
-Enable flow control on serial 5. 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.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-|2|Auto|
-
-- RebootRequired: True
-
-## BRD_SAFETYENABLE: Enable use of safety arming switch
-
-This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-- RebootRequired: True
-
-## BRD_SBUS_OUT:  SBUS output rate
-
-*Note: This parameter is for advanced users*
-
-This sets the SBUS output frame rate in Hz
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|50Hz|
-|2|75Hz|
-|3|100Hz|
-|4|150Hz|
-|5|200Hz|
-|6|250Hz|
-|7|300Hz|
-
-- RebootRequired: True
-
-## BRD_SERIAL_NUM: User-defined serial number
-
-User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
-
-- Range: -32768 32767
-
-## BRD_SAFETY_MASK: Outputs which ignore the safety switch state
-
-*Note: This parameter is for advanced users*
-
-A bitmask which controls what outputs can move while the safety switch has not been pressed
-
-- Bitmask: 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14
-
-- RebootRequired: True
-
-## BRD_IMU_TARGTEMP: Target IMU temperature
-
-*Note: This parameter is for advanced users*
-
-This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.
-
-- Range: -1 80
-
-- Units: degC
-
-## BRD_TYPE: Board type
-
-*Note: This parameter is for advanced users*
-
-This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)
-
-|Value|Meaning|
-|:---:|:---:|
-|0|AUTO|
-|1|PX4V1|
-|2|Pixhawk|
-|3|Cube/Pixhawk2|
-|4|Pixracer|
-|5|PixhawkMini|
-|6|Pixhawk2Slim|
-|13|Intel Aero FC|
-|14|Pixhawk Pro|
-|20|AUAV2.1|
-|21|PCNC1|
-|22|MINDPXV2|
-|23|SP01|
-|24|CUAVv5/FMUV5|
-|30|VRX BRAIN51|
-|32|VRX BRAIN52|
-|33|VRX BRAIN52E|
-|34|VRX UBRAIN51|
-|35|VRX UBRAIN52|
-|36|VRX CORE10|
-|38|VRX BRAIN54|
-|39|PX4 FMUV6|
-|100|PX4 OLDDRIVERS|
-
-- RebootRequired: True
-
-## BRD_IO_ENABLE: Enable IO co-processor
-
-*Note: This parameter is for advanced users*
-
-This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-- RebootRequired: True
-
-## BRD_SAFETYOPTION: Options for safety button behavior
-
-This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
-
-- Bitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms
-
-## BRD_VBUS_MIN: Autopilot board voltage requirement
-
-*Note: This parameter is for advanced users*
-
-Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
-
-- Units: V
-
-- Range: 4.0 5.5
-
-- Increment: 0.1
-
-## BRD_VSERVO_MIN: Servo voltage requirement
-
-*Note: This parameter is for advanced users*
-
-Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
-
-- Units: V
-
-- Range: 3.3 12.0
-
-- Increment: 0.1
-
-## BRD_SD_SLOWDOWN: microSD slowdown
-
-*Note: This parameter is for advanced users*
-
-This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.
-
-- Range: 0 32
-
-- Increment: 1
-
-## BRD_PWM_VOLT_SEL: Set PWM Out Voltage
-
-*Note: This parameter is for advanced users*
-
-This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|3.3V|
-|1|5V|
-
-## BRD_OPTIONS: Board options
-
-*Note: This parameter is for advanced users*
-
-Board specific option flags
-
-- Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins
-
-## BRD_BOOT_DELAY: Boot delay
-
-*Note: This parameter is for advanced users*
-
-This adds a delay in milliseconds to boot to ensure peripherals initialise fully
-
-- Range: 0 10000
-
-- Units: ms
-
-## BRD_IMUHEAT_P: IMU Heater P gain
-
-*Note: This parameter is for advanced users*
-
-IMU Heater P gain
-
-- Range: 1 500
-
-- Increment: 1
-
-## BRD_IMUHEAT_I: IMU Heater I gain
-
-*Note: This parameter is for advanced users*
-
-IMU Heater integrator gain
-
-- Range: 0 1
-
-- Increment: 0.1
-
-## BRD_IMUHEAT_IMAX: IMU Heater IMAX
-
-*Note: This parameter is for advanced users*
-
-IMU Heater integrator maximum
-
-- Range: 0 100
-
-- Increment: 1
-
-## BRD_ALT_CONFIG: Alternative HW config
-
-*Note: This parameter is for advanced users*
-
-Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.
-
-- Range: 0 10
-
-- Increment: 1
-
-- RebootRequired: True
-
-# BRDRADIO Parameters
-
-## BRD_RADIO_TYPE: Set type of direct attached radio
-
-This enables support for direct attached radio receivers
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|CYRF6936|
-|2|CC2500|
-|3|BK2425|
-
-## BRD_RADIO_PROT: protocol
-
-*Note: This parameter is for advanced users*
-
-Select air protocol
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Auto|
-|1|DSM2|
-|2|DSMX|
-
-## BRD_RADIO_DEBUG: debug level
-
-*Note: This parameter is for advanced users*
-
-radio debug level
-
-- Range: 0 4
-
-## BRD_RADIO_DISCRC: disable receive CRC
-
-*Note: This parameter is for advanced users*
-
-disable receive CRC (for debug)
-
-|Value|Meaning|
-|:---:|:---:|
-|0|NotDisabled|
-|1|Disabled|
-
-## BRD_RADIO_SIGCH: RSSI signal strength
-
-*Note: This parameter is for advanced users*
-
-Channel to show receive RSSI signal strength, or zero for disabled
-
-- Range: 0 16
-
-## BRD_RADIO_PPSCH: Packet rate channel
-
-*Note: This parameter is for advanced users*
-
-Channel to show received packet-per-second rate, or zero for disabled
-
-- Range: 0 16
-
-## BRD_RADIO_TELEM: Enable telemetry
-
-*Note: This parameter is for advanced users*
-
-If this is non-zero then telemetry packets will be sent over DSM
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## BRD_RADIO_TXPOW: Telemetry Transmit power
-
-*Note: This parameter is for advanced users*
-
-Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX
-
-- Range: 1 8
-
-## BRD_RADIO_FCCTST: Put radio into FCC test mode
-
-*Note: This parameter is for advanced users*
-
-If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|MinChannel|
-|2|MidChannel|
-|3|MaxChannel|
-|4|MinChannelCW|
-|5|MidChannelCW|
-|6|MaxChannelCW|
-
-## BRD_RADIO_STKMD: Stick input mode
-
-*Note: This parameter is for advanced users*
-
-This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.
-
-|Value|Meaning|
-|:---:|:---:|
-|1|Mode1|
-|2|Mode2|
-
-## BRD_RADIO_TESTCH: Set radio to factory test channel
-
-*Note: This parameter is for advanced users*
-
-This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|TestChan1|
-|2|TestChan2|
-|3|TestChan3|
-|4|TestChan4|
-|5|TestChan5|
-|6|TestChan6|
-|7|TestChan7|
-|8|TestChan8|
-
-## BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter
-
-*Note: This parameter is for advanced users*
-
-Channel to show telemetry RSSI value as received by TX
-
-- Range: 0 16
-
-## BRD_RADIO_TPPSCH: Telemetry PPS channel
-
-*Note: This parameter is for advanced users*
-
-Channel to show telemetry packets-per-second value, as received at TX
-
-- Range: 0 16
-
-## BRD_RADIO_TXMAX: Transmitter transmit power
-
-*Note: This parameter is for advanced users*
-
-Set transmitter maximum transmit power (from 1 to 8)
-
-- Range: 1 8
-
-## BRD_RADIO_BZOFS: Transmitter buzzer adjustment
-
-*Note: This parameter is for advanced users*
-
-Set transmitter buzzer note adjustment (adjust frequency up)
-
-- Range: 0 40
-
-## BRD_RADIO_ABTIME: Auto-bind time
-
-*Note: This parameter is for advanced users*
-
-When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.
-
-- Range: 0 120
-
-## BRD_RADIO_ABLVL: Auto-bind level
-
-*Note: This parameter is for advanced users*
-
-This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially
-
-- Range: 0 31
-
-# BRDRTC Parameters
-
-## BRD_RTC_TYPES: Allowed sources of RTC time
-
-*Note: This parameter is for advanced users*
-
-Specifies which sources of UTC time will be accepted
-
-- Bitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW
-
-## BRD_RTC_TZ_MIN: Timezone offset from UTC
-
-*Note: This parameter is for advanced users*
-
-Adds offset in +- minutes from UTC to calculate local time
-
-- Range: -720 +840
-
-# BTNn Parameters
-
-## BTNn_FUNCTION: Function for button
-
-Set to 0 to disable or choose a function
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|shift|
-|2|arm_toggle|
-|3|arm|
-|4|disarm|
-|5|mode_manual|
-|6|mode_stabilize|
-|7|mode_depth_hold|
-|8|mode_poshold|
-|9|mode_auto|
-|10|mode_circle|
-|11|mode_guided|
-|12|mode_acro|
-|21|mount_center|
-|22|mount_tilt_up|
-|23|mount_tilt_down|
-|24|camera_trigger|
-|25|camera_source_toggle|
-|26|mount_pan_right|
-|27|mount_pan_left|
-|31|lights1_cycle|
-|32|lights1_brighter|
-|33|lights1_dimmer|
-|34|lights2_cycle|
-|35|lights2_brighter|
-|36|lights2_dimmer|
-|41|gain_toggle|
-|42|gain_inc|
-|43|gain_dec|
-|44|trim_roll_inc|
-|45|trim_roll_dec|
-|46|trim_pitch_inc|
-|47|trim_pitch_dec|
-|48|input_hold_set|
-|49|roll_pitch_toggle|
-|51|relay_1_on|
-|52|relay_1_off|
-|53|relay_1_toggle|
-|54|relay_2_on|
-|55|relay_2_off|
-|56|relay_2_toggle|
-|57|relay_3_on|
-|58|relay_3_off|
-|59|relay_3_toggle|
-|61|servo_1_inc|
-|62|servo_1_dec|
-|63|servo_1_min|
-|64|servo_1_max|
-|65|servo_1_center|
-|66|servo_2_inc|
-|67|servo_2_dec|
-|68|servo_2_min|
-|69|servo_2_max|
-|70|servo_2_center|
-|71|servo_3_inc|
-|72|servo_3_dec|
-|73|servo_3_min|
-|74|servo_3_max|
-|75|servo_3_center|
-|76|servo_1_min_momentary|
-|77|servo_1_max_momentary|
-|78|servo_1_min_toggle|
-|79|servo_1_max_toggle|
-|80|servo_2_min_momentary|
-|81|servo_2_max_momentary|
-|82|servo_2_min_toggle|
-|83|servo_2_max_toggle|
-|84|servo_3_min_momentary|
-|85|servo_3_max_momentary|
-|86|servo_3_min_toggle|
-|87|servo_3_max_toggle|
-|91|custom_1|
-|92|custom_2|
-|93|custom_3|
-|94|custom_4|
-|95|custom_5|
-|96|custom_6|
-|101|relay_4_on|
-|102|relay_4_off|
-|103|relay_4_toggle|
-|104|relay_1_momentary|
-|105|relay_2_momentary|
-|106|relay_3_momentary|
-|107|relay_4_momentary|
-
-## BTNn_SFUNCTION: Function for button when the shift mode is toggled on
-
-Set to 0 to disable or choose a function
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|shift|
-|2|arm_toggle|
-|3|arm|
-|4|disarm|
-|5|mode_manual|
-|6|mode_stabilize|
-|7|mode_depth_hold|
-|8|mode_poshold|
-|9|mode_auto|
-|10|mode_circle|
-|11|mode_guided|
-|12|mode_acro|
-|21|mount_center|
-|22|mount_tilt_up|
-|23|mount_tilt_down|
-|24|camera_trigger|
-|25|camera_source_toggle|
-|26|mount_pan_right|
-|27|mount_pan_left|
-|31|lights1_cycle|
-|32|lights1_brighter|
-|33|lights1_dimmer|
-|34|lights2_cycle|
-|35|lights2_brighter|
-|36|lights2_dimmer|
-|41|gain_toggle|
-|42|gain_inc|
-|43|gain_dec|
-|44|trim_roll_inc|
-|45|trim_roll_dec|
-|46|trim_pitch_inc|
-|47|trim_pitch_dec|
-|48|input_hold_set|
-|49|roll_pitch_toggle|
-|51|relay_1_on|
-|52|relay_1_off|
-|53|relay_1_toggle|
-|54|relay_2_on|
-|55|relay_2_off|
-|56|relay_2_toggle|
-|57|relay_3_on|
-|58|relay_3_off|
-|59|relay_3_toggle|
-|61|servo_1_inc|
-|62|servo_1_dec|
-|63|servo_1_min|
-|64|servo_1_max|
-|65|servo_1_center|
-|66|servo_2_inc|
-|67|servo_2_dec|
-|68|servo_2_min|
-|69|servo_2_max|
-|70|servo_2_center|
-|71|servo_3_inc|
-|72|servo_3_dec|
-|73|servo_3_min|
-|74|servo_3_max|
-|75|servo_3_center|
-|76|servo_1_min_momentary|
-|77|servo_1_max_momentary|
-|78|servo_1_min_toggle|
-|79|servo_1_max_toggle|
-|80|servo_2_min_momentary|
-|81|servo_2_max_momentary|
-|82|servo_2_min_toggle|
-|83|servo_2_max_toggle|
-|84|servo_3_min_momentary|
-|85|servo_3_max_momentary|
-|86|servo_3_min_toggle|
-|87|servo_3_max_toggle|
-|91|custom_1|
-|92|custom_2|
-|93|custom_3|
-|94|custom_4|
-|95|custom_5|
-|96|custom_6|
-|101|relay_4_on|
-|102|relay_4_off|
-|103|relay_4_toggle|
-|104|relay_1_momentary|
-|105|relay_2_momentary|
-|106|relay_3_momentary|
-|107|relay_4_momentary|
-
-# CAM Parameters
-
-## CAM_TRIGG_TYPE: Camera shutter (trigger) type
-
-how to trigger the camera to take a picture
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Servo|
-|1|Relay|
-|2|GoPro in Solo Gimbal|
-
-## CAM_DURATION: Duration that shutter is held open
-
-How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)
-
-- Units: ds
-
-- Range: 0 50
-
-## CAM_SERVO_ON: Servo ON PWM value
-
-PWM value in microseconds to move servo to when shutter is activated
-
-- Units: PWM
-
-- Range: 1000 2000
-
-## CAM_SERVO_OFF: Servo OFF PWM value
-
-PWM value in microseconds to move servo to when shutter is deactivated
-
-- Units: PWM
-
-- Range: 1000 2000
-
-## CAM_TRIGG_DIST: Camera trigger distance
-
-Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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.
-
-- Units: m
-
-- Range: 0 1000
-
-## CAM_RELAY_ON: Relay ON value
-
-This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Low|
-|1|High|
-
-## CAM_MIN_INTERVAL: Minimum time between photos
-
-Postpone shooting if previous picture was taken less than preset time(ms) ago.
-
-- Units: ms
-
-- Range: 0 10000
-
-## CAM_MAX_ROLL: Maximum photo roll angle.
-
-Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).
-
-- Units: deg
-
-- Range: 0 180
-
-## CAM_FEEDBACK_PIN: Camera feedback pin
-
-pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option.
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|50|AUX1|
-|51|AUX2|
-|52|AUX3|
-|53|AUX4|
-|54|AUX5|
-|55|AUX6|
-
-- RebootRequired: True
-
-## CAM_FEEDBACK_POL: Camera feedback pin polarity
-
-Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low
-
-|Value|Meaning|
-|:---:|:---:|
-|0|TriggerLow|
-|1|TriggerHigh|
-
-## CAM_AUTO_ONLY: Distance-trigging in AUTO mode only
-
-When enabled, trigging by distance is done in AUTO mode only.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Always|
-|1|Only when in AUTO|
-
-## CAM_TYPE: Type of camera (0: None, 1: BMMCC)
-
-Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Default|
-|1|BMMCC|
-
-# CAMRC Parameters
-
-## CAM_RC_TYPE: RunCam device type
-
-RunCam deviee type used to determine OSD menu structure and shutter options.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|RunCam Split Micro/RunCam with UART|
-|2|RunCam Split|
-|3|RunCam Split4 4k|
-|4|RunCam Hybrid|
-
-## CAM_RC_FEATURES: RunCam features available
-
-*Note: This parameter is for advanced users*
-
-The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.
-
-- Bitmask: 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording
-
-## CAM_RC_BT_DELAY: RunCam boot delay before allowing updates
-
-*Note: This parameter is for advanced users*
-
-Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.
-
-## CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses
-
-*Note: This parameter is for advanced users*
-
-Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
-
-## CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses
-
-*Note: This parameter is for advanced users*
-
-Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
-
-## CAM_RC_CONTROL: RunCam control option
-
-*Note: This parameter is for advanced users*
-
-Specifies the allowed actions required to enter the OSD menu
-
-- Bitmask: 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled
-
-# CAN Parameters
-
-## CAN_LOGLEVEL: Loglevel
-
-*Note: This parameter is for advanced users*
-
-Loglevel for recording initialisation and debug information from CAN Interface
-
-- Range: 0 4
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Log None|
-|1|Log Error|
-|2|Log Warning and below|
-|3|Log Info and below|
-|4|Log Everything|
-
-# CAND1 Parameters
-
-## CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver
-
-*Note: This parameter is for advanced users*
-
-Enabling this option starts selected protocol that will use this virtual driver
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|UAVCAN|
-|3|ToshibaCAN|
-|4|PiccoloCAN|
-|5|CANTester|
-|8|KDECAN|
-|9|PacketDigitalCAN|
-
-- RebootRequired: True
-
-# CAND1KDE Parameters
-
-## CAN_D1_KDE_NPOLE: Number of motor poles
-
-Sets the number of motor poles to calculate the correct RPM value
-
-# CAND1PC Parameters
-
-## CAN_D1_PC_ESC_BM: ESC channels
-
-*Note: This parameter is for advanced users*
-
-Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
-
-- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
-
-## CAN_D1_PC_ESC_RT: ESC output rate
-
-*Note: This parameter is for advanced users*
-
-Output rate of ESC command messages
-
-- Units: Hz
-
-- Range: 1 500
-
-## CAN_D1_PC_SRV_BM: Servo channels
-
-*Note: This parameter is for advanced users*
-
-Bitmask defining which servo channels are to be transmitted over Piccolo CAN
-
-- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16
-
-## CAN_D1_PC_SRV_RT: Servo command output rate
-
-*Note: This parameter is for advanced users*
-
-Output rate of servo command messages
-
-- Units: Hz
-
-- Range: 1 500
-
-# CAND1TST Parameters
-
-## CAN_D1_TST_ID: CAN Test Index
-
-*Note: This parameter is for advanced users*
-
-Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
-
-- Range: 0 4
-
-|Value|Meaning|
-|:---:|:---:|
-|0|TEST_NONE|
-|1|TEST_LOOPBACK|
-|2|TEST_BUSOFF_RECOVERY|
-|3|TEST_UAVCAN_DNA|
-|4|TEST_TOSHIBA_CAN|
-|5|TEST_KDE_CAN|
-|6|TEST_UAVCAN_ESC|
-
-## CAN_D1_TST_LPR8: CANTester LoopRate
-
-*Note: This parameter is for advanced users*
-
-Selects the Looprate of Test methods
-
-- Units: us
-
-# CAND1UC Parameters
-
-## CAN_D1_UC_NODE: UAVCAN node that is used for this network
-
-*Note: This parameter is for advanced users*
-
-UAVCAN node should be set implicitly
-
-- Range: 1 250
-
-## CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
-
-*Note: This parameter is for advanced users*
-
-Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
-
-- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15
-
-## CAN_D1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
-
-*Note: This parameter is for advanced users*
-
-Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
-
-- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
-
-## CAN_D1_UC_SRV_RT: Servo output rate
-
-*Note: This parameter is for advanced users*
-
-Maximum transmit rate for servo outputs
-
-- Range: 1 200
-
-- Units: Hz
-
-## CAN_D1_UC_OPTION: UAVCAN options
-
-*Note: This parameter is for advanced users*
-
-Option flags
-
-- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts
-
-# CAND2 Parameters
-
-## CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver
-
-*Note: This parameter is for advanced users*
-
-Enabling this option starts selected protocol that will use this virtual driver
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|UAVCAN|
-|3|ToshibaCAN|
-|4|PiccoloCAN|
-|5|CANTester|
-|8|KDECAN|
-|9|PacketDigitalCAN|
-
-- RebootRequired: True
-
-# CAND2KDE Parameters
-
-## CAN_D2_KDE_NPOLE: Number of motor poles
-
-Sets the number of motor poles to calculate the correct RPM value
-
-# CAND2PC Parameters
-
-## CAN_D2_PC_ESC_BM: ESC channels
-
-*Note: This parameter is for advanced users*
-
-Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
-
-- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
-
-## CAN_D2_PC_ESC_RT: ESC output rate
-
-*Note: This parameter is for advanced users*
-
-Output rate of ESC command messages
-
-- Units: Hz
-
-- Range: 1 500
-
-## CAN_D2_PC_SRV_BM: Servo channels
-
-*Note: This parameter is for advanced users*
-
-Bitmask defining which servo channels are to be transmitted over Piccolo CAN
-
-- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16
-
-## CAN_D2_PC_SRV_RT: Servo command output rate
-
-*Note: This parameter is for advanced users*
-
-Output rate of servo command messages
-
-- Units: Hz
-
-- Range: 1 500
-
-# CAND2TST Parameters
-
-## CAN_D2_TST_ID: CAN Test Index
-
-*Note: This parameter is for advanced users*
-
-Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
-
-- Range: 0 4
-
-|Value|Meaning|
-|:---:|:---:|
-|0|TEST_NONE|
-|1|TEST_LOOPBACK|
-|2|TEST_BUSOFF_RECOVERY|
-|3|TEST_UAVCAN_DNA|
-|4|TEST_TOSHIBA_CAN|
-|5|TEST_KDE_CAN|
-|6|TEST_UAVCAN_ESC|
-
-## CAN_D2_TST_LPR8: CANTester LoopRate
-
-*Note: This parameter is for advanced users*
-
-Selects the Looprate of Test methods
-
-- Units: us
-
-# CAND2UC Parameters
-
-## CAN_D2_UC_NODE: UAVCAN node that is used for this network
-
-*Note: This parameter is for advanced users*
-
-UAVCAN node should be set implicitly
-
-- Range: 1 250
-
-## CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
-
-*Note: This parameter is for advanced users*
-
-Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
-
-- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15
-
-## CAN_D2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
-
-*Note: This parameter is for advanced users*
-
-Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
-
-- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
-
-## CAN_D2_UC_SRV_RT: Servo output rate
-
-*Note: This parameter is for advanced users*
-
-Maximum transmit rate for servo outputs
-
-- Range: 1 200
-
-- Units: Hz
-
-## CAN_D2_UC_OPTION: UAVCAN options
-
-*Note: This parameter is for advanced users*
-
-Option flags
-
-- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts
-
-# CAND3 Parameters
-
-## CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver
-
-*Note: This parameter is for advanced users*
-
-Enabling this option starts selected protocol that will use this virtual driver
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|UAVCAN|
-|3|ToshibaCAN|
-|4|PiccoloCAN|
-|5|CANTester|
-|8|KDECAN|
-|9|PacketDigitalCAN|
-
-- RebootRequired: True
-
-# CAND3KDE Parameters
-
-## CAN_D3_KDE_NPOLE: Number of motor poles
-
-Sets the number of motor poles to calculate the correct RPM value
-
-# CAND3PC Parameters
-
-## CAN_D3_PC_ESC_BM: ESC channels
-
-*Note: This parameter is for advanced users*
-
-Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
-
-- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
-
-## CAN_D3_PC_ESC_RT: ESC output rate
-
-*Note: This parameter is for advanced users*
-
-Output rate of ESC command messages
-
-- Units: Hz
-
-- Range: 1 500
-
-## CAN_D3_PC_SRV_BM: Servo channels
-
-*Note: This parameter is for advanced users*
-
-Bitmask defining which servo channels are to be transmitted over Piccolo CAN
-
-- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16
-
-## CAN_D3_PC_SRV_RT: Servo command output rate
-
-*Note: This parameter is for advanced users*
-
-Output rate of servo command messages
-
-- Units: Hz
-
-- Range: 1 500
-
-# CAND3TST Parameters
-
-## CAN_D3_TST_ID: CAN Test Index
-
-*Note: This parameter is for advanced users*
-
-Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
-
-- Range: 0 4
-
-|Value|Meaning|
-|:---:|:---:|
-|0|TEST_NONE|
-|1|TEST_LOOPBACK|
-|2|TEST_BUSOFF_RECOVERY|
-|3|TEST_UAVCAN_DNA|
-|4|TEST_TOSHIBA_CAN|
-|5|TEST_KDE_CAN|
-|6|TEST_UAVCAN_ESC|
-
-## CAN_D3_TST_LPR8: CANTester LoopRate
-
-*Note: This parameter is for advanced users*
-
-Selects the Looprate of Test methods
-
-- Units: us
-
-# CAND3UC Parameters
-
-## CAN_D3_UC_NODE: UAVCAN node that is used for this network
-
-*Note: This parameter is for advanced users*
-
-UAVCAN node should be set implicitly
-
-- Range: 1 250
-
-## CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
-
-*Note: This parameter is for advanced users*
-
-Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
-
-- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15
-
-## CAN_D3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
-
-*Note: This parameter is for advanced users*
-
-Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
-
-- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
-
-## CAN_D3_UC_SRV_RT: Servo output rate
-
-*Note: This parameter is for advanced users*
-
-Maximum transmit rate for servo outputs
-
-- Range: 1 200
-
-- Units: Hz
-
-## CAN_D3_UC_OPTION: UAVCAN options
-
-*Note: This parameter is for advanced users*
-
-Option flags
-
-- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts
-
-# CANP1 Parameters
-
-## CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface
-
-Enabling this option enables use of CAN buses.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|First driver|
-|2|Second driver|
-
-- RebootRequired: True
-
-## CAN_P1_BITRATE: Bitrate of CAN interface
-
-*Note: This parameter is for advanced users*
-
-Bit rate can be set up to from 10000 to 1000000
-
-- Range: 10000 1000000
-
-# CANP2 Parameters
-
-## CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface
-
-Enabling this option enables use of CAN buses.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|First driver|
-|2|Second driver|
-
-- RebootRequired: True
-
-## CAN_P2_BITRATE: Bitrate of CAN interface
-
-*Note: This parameter is for advanced users*
-
-Bit rate can be set up to from 10000 to 1000000
-
-- Range: 10000 1000000
-
-# CANP3 Parameters
-
-## CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface
-
-Enabling this option enables use of CAN buses.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|First driver|
-|2|Second driver|
-
-- RebootRequired: True
-
-## CAN_P3_BITRATE: Bitrate of CAN interface
-
-*Note: This parameter is for advanced users*
-
-Bit rate can be set up to from 10000 to 1000000
-
-- Range: 10000 1000000
-
-# CANSLCAN Parameters
-
-## CAN_SLCAN_CPORT: SLCAN Route
-
-CAN Interface ID to be routed to SLCAN, 0 means no routing
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|First interface|
-|2|Second interface|
-
-- RebootRequired: True
-
-## CAN_SLCAN_SERNUM: SLCAN Serial Port
-
-Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|0|Serial0|
-|1|Serial1|
-|2|Serial2|
-|3|Serial3|
-|4|Serial4|
-|5|Serial5|
-|6|Serial6|
-
-## CAN_SLCAN_TIMOUT: SLCAN Timeout
-
-Duration of inactivity after which SLCAN is switched back to original driver in seconds.
-
-- Range: 0 127
-
-## CAN_SLCAN_SDELAY: SLCAN Start Delay
-
-Duration after which slcan starts after setting SERNUM in seconds.
-
-- Range: 0 127
-
-# COMPASS Parameters
-
-## COMPASS_OFS_X: Compass offsets in milligauss on the X axis
-
-*Note: This parameter is for advanced users*
-
-Offset to be added to the compass x-axis values to compensate for metal in the frame
-
-- Range: -400 400
-
-- Units: mGauss
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis
-
-*Note: This parameter is for advanced users*
-
-Offset to be added to the compass y-axis values to compensate for metal in the frame
-
-- Range: -400 400
-
-- Units: mGauss
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis
-
-*Note: This parameter is for advanced users*
-
-Offset to be added to the compass z-axis values to compensate for metal in the frame
-
-- Range: -400 400
-
-- Units: mGauss
-
-- Increment: 1
-
-## COMPASS_DEC: Compass declination
-
-An angle to compensate between the true north and magnetic north
-
-- Range: -3.142 3.142
-
-- Units: rad
-
-- Increment: 0.01
-
-## COMPASS_LEARN: Learn compass offsets automatically
-
-*Note: This parameter is for advanced users*
-
-Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Internal-Learning|
-|2|EKF-Learning|
-|3|InFlight-Learning|
-
-## COMPASS_USE: Use compass for yaw
-
-*Note: This parameter is for advanced users*
-
-Enable or disable the use of the compass (instead of the GPS) for determining heading
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## COMPASS_AUTODEC: Auto Declination
-
-*Note: This parameter is for advanced users*
-
-Enable or disable the automatic calculation of the declination based on gps location
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## COMPASS_MOTCT: Motor interference compensation type
-
-*Note: This parameter is for advanced users*
-
-Set motor interference compensation type to disabled, throttle or current.  Do not change manually.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Use Throttle|
-|2|Use Current|
-
-- Calibration: 1
-
-## COMPASS_MOT_X: Motor interference compensation for body frame X axis
-
-*Note: This parameter is for advanced users*
-
-Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
-
-- Range: -1000 1000
-
-- Units: mGauss/A
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_MOT_Y: Motor interference compensation for body frame Y axis
-
-*Note: This parameter is for advanced users*
-
-Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
-
-- Range: -1000 1000
-
-- Units: mGauss/A
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_MOT_Z: Motor interference compensation for body frame Z axis
-
-*Note: This parameter is for advanced users*
-
-Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
-
-- Range: -1000 1000
-
-- Units: mGauss/A
-
-- Increment: 1
-
-## COMPASS_ORIENT: Compass orientation
-
-*Note: This parameter is for advanced users*
-
-The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
-
-|Value|Meaning|
-|:---:|:---:|
-|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|Roll270Yaw135|
-|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|
-|39|Pitch315|
-|40|Roll90Pitch315|
-|100|Custom|
-
-## COMPASS_EXTERNAL: Compass is attached via an external cable
-
-*Note: This parameter is for advanced users*
-
-Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. 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. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Internal|
-|1|External|
-|2|ForcedExternal|
-
-## COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis
-
-*Note: This parameter is for advanced users*
-
-Offset to be added to compass2's x-axis values to compensate for metal in the frame
-
-- Range: -400 400
-
-- Units: mGauss
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis
-
-*Note: This parameter is for advanced users*
-
-Offset to be added to compass2's y-axis values to compensate for metal in the frame
-
-- Range: -400 400
-
-- Units: mGauss
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis
-
-*Note: This parameter is for advanced users*
-
-Offset to be added to compass2's z-axis values to compensate for metal in the frame
-
-- Range: -400 400
-
-- Units: mGauss
-
-- Increment: 1
-
-## COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis
-
-*Note: This parameter is for advanced users*
-
-Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
-
-- Range: -1000 1000
-
-- Units: mGauss/A
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis
-
-*Note: This parameter is for advanced users*
-
-Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
-
-- Range: -1000 1000
-
-- Units: mGauss/A
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis
-
-*Note: This parameter is for advanced users*
-
-Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
-
-- Range: -1000 1000
-
-- Units: mGauss/A
-
-- Increment: 1
-
-## COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis
-
-*Note: This parameter is for advanced users*
-
-Offset to be added to compass3's x-axis values to compensate for metal in the frame
-
-- Range: -400 400
-
-- Units: mGauss
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis
-
-*Note: This parameter is for advanced users*
-
-Offset to be added to compass3's y-axis values to compensate for metal in the frame
-
-- Range: -400 400
-
-- Units: mGauss
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis
-
-*Note: This parameter is for advanced users*
-
-Offset to be added to compass3's z-axis values to compensate for metal in the frame
-
-- Range: -400 400
-
-- Units: mGauss
-
-- Increment: 1
-
-## COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis
-
-*Note: This parameter is for advanced users*
-
-Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
-
-- Range: -1000 1000
-
-- Units: mGauss/A
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis
-
-*Note: This parameter is for advanced users*
-
-Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
-
-- Range: -1000 1000
-
-- Units: mGauss/A
-
-- Increment: 1
-
-- Calibration: 1
-
-## COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis
-
-*Note: This parameter is for advanced users*
-
-Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
-
-- Range: -1000 1000
-
-- Units: mGauss/A
-
-- Increment: 1
-
-## COMPASS_DEV_ID: Compass device id
-
-*Note: This parameter is for advanced users*
-
-Compass device id.  Automatically detected, do not set manually
-
-- ReadOnly: True
-
-## COMPASS_DEV_ID2: Compass2 device id
-
-*Note: This parameter is for advanced users*
-
-Second compass's device id.  Automatically detected, do not set manually
-
-- ReadOnly: True
-
-## COMPASS_DEV_ID3: Compass3 device id
-
-*Note: This parameter is for advanced users*
-
-Third compass's device id.  Automatically detected, do not set manually
-
-- ReadOnly: True
-
-## COMPASS_USE2: Compass2 used for yaw
-
-*Note: This parameter is for advanced users*
-
-Enable or disable the secondary compass for determining heading.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## COMPASS_ORIENT2: Compass2 orientation
-
-*Note: This parameter is for advanced users*
-
-The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
-
-|Value|Meaning|
-|:---:|:---:|
-|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|Roll270Yaw135|
-|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|
-|39|Pitch315|
-|40|Roll90Pitch315|
-|100|Custom|
-
-## COMPASS_EXTERN2: Compass2 is attached via an external cable
-
-*Note: This parameter is for advanced users*
-
-Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Internal|
-|1|External|
-|2|ForcedExternal|
-
-## COMPASS_USE3: Compass3 used for yaw
-
-*Note: This parameter is for advanced users*
-
-Enable or disable the tertiary compass for determining heading.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## COMPASS_ORIENT3: Compass3 orientation
-
-*Note: This parameter is for advanced users*
-
-The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
-
-|Value|Meaning|
-|:---:|:---:|
-|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|Roll270Yaw135|
-|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|
-|39|Pitch315|
-|40|Roll90Pitch315|
-|100|Custom|
-
-## COMPASS_EXTERN3: Compass3 is attached via an external cable
-
-*Note: This parameter is for advanced users*
-
-Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Internal|
-|1|External|
-|2|ForcedExternal|
-
-## COMPASS_DIA_X: Compass soft-iron diagonal X component
-
-*Note: This parameter is for advanced users*
-
-DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_DIA_Y: Compass soft-iron diagonal Y component
-
-*Note: This parameter is for advanced users*
-
-DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_DIA_Z: Compass soft-iron diagonal Z component
-
-*Note: This parameter is for advanced users*
-
-DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-## COMPASS_ODI_X: Compass soft-iron off-diagonal X component
-
-*Note: This parameter is for advanced users*
-
-ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component
-
-*Note: This parameter is for advanced users*
-
-ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component
-
-*Note: This parameter is for advanced users*
-
-ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-## COMPASS_DIA2_X: Compass2 soft-iron diagonal X component
-
-*Note: This parameter is for advanced users*
-
-DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component
-
-*Note: This parameter is for advanced users*
-
-DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component
-
-*Note: This parameter is for advanced users*
-
-DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-## COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component
-
-*Note: This parameter is for advanced users*
-
-ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component
-
-*Note: This parameter is for advanced users*
-
-ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component
-
-*Note: This parameter is for advanced users*
-
-ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-## COMPASS_DIA3_X: Compass3 soft-iron diagonal X component
-
-*Note: This parameter is for advanced users*
-
-DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component
-
-*Note: This parameter is for advanced users*
-
-DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component
-
-*Note: This parameter is for advanced users*
-
-DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-## COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component
-
-*Note: This parameter is for advanced users*
-
-ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component
-
-*Note: This parameter is for advanced users*
-
-ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-- Calibration: 1
-
-## COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component
-
-*Note: This parameter is for advanced users*
-
-ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
-
-## COMPASS_CAL_FIT: Compass calibration fitness
-
-*Note: This parameter is for advanced users*
-
-This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
-
-- Range: 4 32
-
-|Value|Meaning|
-|:---:|:---:|
-|4|Very Strict|
-|8|Strict|
-|16|Default|
-|32|Relaxed|
-
-- Increment: 0.1
-
-## COMPASS_OFFS_MAX: Compass maximum offset
-
-*Note: This parameter is for advanced users*
-
-This sets the maximum allowed compass offset in calibration and arming checks
-
-- Range: 500 3000
-
-- Increment: 1
-
-## COMPASS_TYPEMASK: Compass disable driver type mask
-
-*Note: This parameter is for advanced users*
-
-This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
-
-- Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS
-
-## COMPASS_FLTR_RNG: Range in which sample is accepted
-
-This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
-
-- Units: %
-
-- Range: 0 100
-
-- Increment: 1
-
-## COMPASS_AUTO_ROT: Automatically check orientation
-
-When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|CheckOnly|
-|2|CheckAndFix|
-
-## COMPASS_PRIO1_ID: Compass device id with 1st order priority
-
-*Note: This parameter is for advanced users*
-
-Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
-
-- RebootRequired: True
-
-## COMPASS_PRIO2_ID: Compass device id with 2nd order priority
-
-*Note: This parameter is for advanced users*
-
-Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
-
-- RebootRequired: True
-
-## COMPASS_PRIO3_ID: Compass device id with 3rd order priority
-
-*Note: This parameter is for advanced users*
-
-Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
-
-- RebootRequired: True
-
-## COMPASS_ENABLE: Enable Compass
-
-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.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## COMPASS_SCALE: Compass1 scale factor
-
-Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
-
-- Range: 0 1.3
-
-## COMPASS_SCALE2: Compass2 scale factor
-
-Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
-
-- Range: 0 1.3
-
-## COMPASS_SCALE3: Compass3 scale factor
-
-Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
-
-- Range: 0 1.3
-
-## COMPASS_OPTIONS: Compass options
-
-*Note: This parameter is for advanced users*
-
-This sets options to change the behaviour of the compass
-
-- Bitmask: 0:CalRequireGPS
-
-## COMPASS_DEV_ID4: Compass4 device id
-
-*Note: This parameter is for advanced users*
-
-Extra 4th compass's device id.  Automatically detected, do not set manually
-
-- ReadOnly: True
-
-## COMPASS_DEV_ID5: Compass5 device id
-
-*Note: This parameter is for advanced users*
-
-Extra 5th compass's device id.  Automatically detected, do not set manually
-
-- ReadOnly: True
-
-## COMPASS_DEV_ID6: Compass6 device id
-
-*Note: This parameter is for advanced users*
-
-Extra 6th compass's device id.  Automatically detected, do not set manually
-
-- ReadOnly: True
-
-## COMPASS_DEV_ID7: Compass7 device id
-
-*Note: This parameter is for advanced users*
-
-Extra 7th compass's device id.  Automatically detected, do not set manually
-
-- ReadOnly: True
-
-## COMPASS_DEV_ID8: Compass8 device id
-
-*Note: This parameter is for advanced users*
-
-Extra 8th compass's device id.  Automatically detected, do not set manually
-
-- ReadOnly: True
-
-## COMPASS_CUS_ROLL: Custom orientation roll offset
-
-*Note: This parameter is for advanced users*
-
-Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
-
-- Range: -180 180
-
-- Units: deg
-
-- Increment: 1
-
-- RebootRequired: True
-
-## COMPASS_CUS_PIT: Custom orientation pitch offset
-
-*Note: This parameter is for advanced users*
-
-Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
-
-- Range: -180 180
-
-- Units: deg
-
-- Increment: 1
-
-- RebootRequired: True
-
-## COMPASS_CUS_YAW: Custom orientation yaw offset
-
-*Note: This parameter is for advanced users*
-
-Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
-
-- Range: -180 180
-
-- Units: deg
-
-- Increment: 1
-
-- RebootRequired: True
-
-# COMPASSPMOT Parameters
-
-## COMPASS_PMOT_EN: per-motor compass correction enable
-
-*Note: This parameter is for advanced users*
-
-This enables per-motor compass corrections
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## COMPASS_PMOT_EXP: per-motor exponential correction
-
-*Note: This parameter is for advanced users*
-
-This is the exponential correction for the power output of the motor for per-motor compass correction
-
-- Range: 0 2
-
-- Increment: 0.01
-
-## COMPASS_PMOT1_X: Compass per-motor1 X
-
-*Note: This parameter is for advanced users*
-
-Compensation for X axis of motor1
-
-## COMPASS_PMOT1_Y: Compass per-motor1 Y
-
-*Note: This parameter is for advanced users*
-
-Compensation for Y axis of motor1
-
-## COMPASS_PMOT1_Z: Compass per-motor1 Z
-
-*Note: This parameter is for advanced users*
-
-Compensation for Z axis of motor1
-
-## COMPASS_PMOT2_X: Compass per-motor2 X
-
-*Note: This parameter is for advanced users*
-
-Compensation for X axis of motor2
-
-## COMPASS_PMOT2_Y: Compass per-motor2 Y
-
-*Note: This parameter is for advanced users*
-
-Compensation for Y axis of motor2
-
-## COMPASS_PMOT2_Z: Compass per-motor2 Z
-
-*Note: This parameter is for advanced users*
-
-Compensation for Z axis of motor2
-
-## COMPASS_PMOT3_X: Compass per-motor3 X
-
-*Note: This parameter is for advanced users*
-
-Compensation for X axis of motor3
-
-## COMPASS_PMOT3_Y: Compass per-motor3 Y
-
-*Note: This parameter is for advanced users*
-
-Compensation for Y axis of motor3
-
-## COMPASS_PMOT3_Z: Compass per-motor3 Z
-
-*Note: This parameter is for advanced users*
-
-Compensation for Z axis of motor3
-
-## COMPASS_PMOT4_X: Compass per-motor4 X
-
-*Note: This parameter is for advanced users*
-
-Compensation for X axis of motor4
-
-## COMPASS_PMOT4_Y: Compass per-motor4 Y
-
-*Note: This parameter is for advanced users*
-
-Compensation for Y axis of motor4
-
-## COMPASS_PMOT4_Z: Compass per-motor4 Z
-
-*Note: This parameter is for advanced users*
-
-Compensation for Z axis of motor4
-
-# EAHRS Parameters
-
-## EAHRS_TYPE: AHRS type
-
-Type of AHRS device
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|VectorNav|
-
-## EAHRS_RATE: AHRS data rate
-
-Requested rate for AHRS device
-
-- Units: Hz
-
-# EK2 Parameters
-
-## EK2_ENABLE: Enable EKF2
-
-*Note: This parameter is for advanced users*
-
-This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-- RebootRequired: True
-
-## EK2_GPS_TYPE: GPS mode control
-
-*Note: This parameter is for advanced users*
-
-This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|GPS 3D Vel and 2D Pos|
-|1|GPS 2D vel and 2D pos|
-|2|GPS 2D pos|
-|3|No GPS|
-
-## EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
-
-*Note: This parameter is for advanced users*
-
-This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
-
-- Range: 0.05 5.0
-
-- Increment: 0.05
-
-- Units: m/s
-
-## EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
-
-*Note: This parameter is for advanced users*
-
-This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
-
-- Range: 0.05 5.0
-
-- Increment: 0.05
-
-- Units: m/s
-
-## EK2_VEL_I_GATE: GPS velocity innovation gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)
-
-*Note: This parameter is for advanced users*
-
-This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
-
-- Range: 0.1 10.0
-
-- Increment: 0.1
-
-- Units: m
-
-## EK2_POS_I_GATE: GPS position measurement gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK2_GLITCH_RAD: GPS glitch radius gate size (m)
-
-*Note: This parameter is for advanced users*
-
-This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
-
-- Range: 10 100
-
-- Increment: 5
-
-- Units: m
-
-## EK2_ALT_SOURCE: Primary altitude sensor source
-
-*Note: This parameter is for advanced users*
-
-Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Use Baro|
-|1|Use Range Finder|
-|2|Use GPS|
-|3|Use Range Beacon|
-
-- RebootRequired: True
-
-## EK2_ALT_M_NSE: Altitude measurement noise (m)
-
-*Note: This parameter is for advanced users*
-
-This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
-
-- Range: 0.1 10.0
-
-- Increment: 0.1
-
-- Units: m
-
-## EK2_HGT_I_GATE: Height measurement gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK2_HGT_DELAY: Height measurement delay (msec)
-
-*Note: This parameter is for advanced users*
-
-This is the number of msec that the Height measurements lag behind the inertial measurements.
-
-- Range: 0 250
-
-- Increment: 10
-
-- Units: ms
-
-- RebootRequired: True
-
-## EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)
-
-*Note: This parameter is for advanced users*
-
-This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
-
-- Range: 0.01 0.5
-
-- Increment: 0.01
-
-- Units: Gauss
-
-## EK2_MAG_CAL: Magnetometer default fusion mode
-
-*Note: This parameter is for advanced users*
-
-This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.
-
-|Value|Meaning|
-|:---:|:---:|
-|0|When flying|
-|1|When manoeuvring|
-|2|Never|
-|3|After first climb yaw reset|
-|4|Always|
-
-## EK2_MAG_I_GATE: Magnetometer measurement gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
-
-*Note: This parameter is for advanced users*
-
-This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
-
-- Range: 0.5 5.0
-
-- Increment: 0.1
-
-- Units: m/s
-
-## EK2_EAS_I_GATE: Airspeed measurement gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK2_RNG_M_NSE: Range finder measurement noise (m)
-
-*Note: This parameter is for advanced users*
-
-This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
-
-- Range: 0.1 10.0
-
-- Increment: 0.1
-
-- Units: m
-
-## EK2_RNG_I_GATE: Range finder measurement gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK2_MAX_FLOW: Maximum valid optical flow rate
-
-*Note: This parameter is for advanced users*
-
-This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
-
-- Range: 1.0 4.0
-
-- Increment: 0.1
-
-- Units: rad/s
-
-## EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)
-
-*Note: This parameter is for advanced users*
-
-This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
-
-- Range: 0.05 1.0
-
-- Increment: 0.05
-
-- Units: rad/s
-
-## EK2_FLOW_I_GATE: Optical Flow measurement gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK2_FLOW_DELAY: Optical Flow measurement delay (msec)
-
-*Note: This parameter is for advanced users*
-
-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.
-
-- Range: 0 127
-
-- Increment: 10
-
-- Units: ms
-
-- RebootRequired: True
-
-## EK2_GYRO_P_NSE: Rate gyro noise (rad/s)
-
-*Note: This parameter is for advanced users*
-
-This control disturbance 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.
-
-- Range: 0.0001 0.1
-
-- Increment: 0.0001
-
-- Units: rad/s
-
-## EK2_ACC_P_NSE: Accelerometer noise (m/s^2)
-
-*Note: This parameter is for advanced users*
-
-This control disturbance 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.
-
-- Range: 0.01 1.0
-
-- Increment: 0.01
-
-- Units: m/s/s
-
-## EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
-
-*Note: This parameter is for advanced users*
-
-This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
-
-- Range: 0.00001 0.001
-
-- Units: rad/s/s
-
-## EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)
-
-*Note: This parameter is for advanced users*
-
-This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.
-
-- Range: 0.000001 0.001
-
-- Units: Hz
-
-## EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
-
-*Note: This parameter is for advanced users*
-
-This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
-
-- Range: 0.00001 0.005
-
-- Units: m/s/s/s
-
-## EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)
-
-*Note: This parameter is for advanced users*
-
-This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
-
-- Range: 0.01 1.0
-
-- Increment: 0.1
-
-- Units: m/s/s
-
-## EK2_WIND_PSCALE: Height rate to wind process noise scaler
-
-*Note: This parameter is for advanced users*
-
-This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
-
-- Range: 0.0 1.0
-
-- Increment: 0.1
-
-## EK2_GPS_CHECK: GPS preflight check
-
-*Note: This parameter is for advanced users*
-
-This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
-
-- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed
-
-## EK2_IMU_MASK: Bitmask of active IMUs
-
-*Note: This parameter is for advanced users*
-
-1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.
-
-- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
-
-- RebootRequired: True
-
-## EK2_CHECK_SCALE: GPS accuracy check scaler (%)
-
-*Note: This parameter is for advanced users*
-
-This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
-
-- Range: 50 200
-
-- Units: %
-
-## EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
-
-*Note: This parameter is for advanced users*
-
-This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
-
-- Range: 0.5 50.0
-
-- Units: m
-
-## EK2_YAW_M_NSE: Yaw measurement noise (rad)
-
-*Note: This parameter is for advanced users*
-
-This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
-
-- Range: 0.05 1.0
-
-- Increment: 0.05
-
-- Units: rad
-
-## EK2_YAW_I_GATE: Yaw measurement gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage number of standard deviations applied to the magnetometer yaw 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
-
-*Note: This parameter is for advanced users*
-
-Sets the time constant of the output complementary filter/predictor in centi-seconds.
-
-- Range: 10 50
-
-- Increment: 5
-
-- Units: cs
-
-## EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
-
-*Note: This parameter is for advanced users*
-
-This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
-
-- Range: 0.00001 0.01
-
-- Units: Gauss/s
-
-## EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
-
-*Note: This parameter is for advanced users*
-
-This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
-
-- Range: 0.00001 0.01
-
-- Units: Gauss/s
-
-## EK2_RNG_USE_HGT: Range finder switch height percentage
-
-*Note: This parameter is for advanced users*
-
-Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
-
-- Range: -1 70
-
-- Increment: 1
-
-- Units: %
-
-## EK2_TERR_GRAD: Maximum terrain gradient
-
-*Note: This parameter is for advanced users*
-
-Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.
-
-- Range: 0 0.2
-
-- Increment: 0.01
-
-## EK2_BCN_M_NSE: Range beacon measurement noise (m)
-
-*Note: This parameter is for advanced users*
-
-This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
-
-- Range: 0.1 10.0
-
-- Increment: 0.1
-
-- Units: m
-
-## EK2_BCN_I_GTE: Range beacon measurement gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage number of standard deviations applied to the range beacon 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK2_BCN_DELAY: Range beacon measurement delay (msec)
-
-*Note: This parameter is for advanced users*
-
-This is the number of msec that the range beacon 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.
-
-- Range: 0 127
-
-- Increment: 10
-
-- Units: ms
-
-- RebootRequired: True
-
-## EK2_RNG_USE_SPD: Range finder max ground speed
-
-*Note: This parameter is for advanced users*
-
-The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
-
-- Range: 2.0 6.0
-
-- Increment: 0.5
-
-- Units: m/s
-
-## EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
-
-*Note: This parameter is for advanced users*
-
-1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
-
-- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
-
-- RebootRequired: True
-
-## EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction
-
-*Note: This parameter is for advanced users*
-
-When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
-
-- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position
-
-- RebootRequired: True
-
-## EK2_FLOW_USE: Optical flow use bitmask
+|1|shift|
+|2|arm_toggle|
+|3|arm|
+|4|disarm|
+|5|mode_manual|
+|6|mode_stabilize|
+|7|mode_depth_hold|
+|8|mode_poshold|
+|9|mode_auto|
+|10|mode_circle|
+|11|mode_guided|
+|12|mode_acro|
+|21|mount_center|
+|22|mount_tilt_up|
+|23|mount_tilt_down|
+|24|camera_trigger|
+|25|camera_source_toggle|
+|26|mount_pan_right|
+|27|mount_pan_left|
+|31|lights1_cycle|
+|32|lights1_brighter|
+|33|lights1_dimmer|
+|34|lights2_cycle|
+|35|lights2_brighter|
+|36|lights2_dimmer|
+|41|gain_toggle|
+|42|gain_inc|
+|43|gain_dec|
+|44|trim_roll_inc|
+|45|trim_roll_dec|
+|46|trim_pitch_inc|
+|47|trim_pitch_dec|
+|48|input_hold_set|
+|49|roll_pitch_toggle|
+|51|relay_1_on|
+|52|relay_1_off|
+|53|relay_1_toggle|
+|54|relay_2_on|
+|55|relay_2_off|
+|56|relay_2_toggle|
+|57|relay_3_on|
+|58|relay_3_off|
+|59|relay_3_toggle|
+|61|servo_1_inc|
+|62|servo_1_dec|
+|63|servo_1_min|
+|64|servo_1_max|
+|65|servo_1_center|
+|66|servo_2_inc|
+|67|servo_2_dec|
+|68|servo_2_min|
+|69|servo_2_max|
+|70|servo_2_center|
+|71|servo_3_inc|
+|72|servo_3_dec|
+|73|servo_3_min|
+|74|servo_3_max|
+|75|servo_3_center|
+|76|servo_1_min_momentary|
+|77|servo_1_max_momentary|
+|78|servo_1_min_toggle|
+|79|servo_1_max_toggle|
+|80|servo_2_min_momentary|
+|81|servo_2_max_momentary|
+|82|servo_2_min_toggle|
+|83|servo_2_max_toggle|
+|84|servo_3_min_momentary|
+|85|servo_3_max_momentary|
+|86|servo_3_min_toggle|
+|87|servo_3_max_toggle|
+|91|custom_1|
+|92|custom_2|
+|93|custom_3|
+|94|custom_4|
+|95|custom_5|
+|96|custom_6|
+|101|relay_4_on|
+|102|relay_4_off|
+|103|relay_4_toggle|
+|104|relay_1_momentary|
+|105|relay_2_momentary|
+|106|relay_3_momentary|
+|107|relay_4_momentary|
 
-*Note: This parameter is for advanced users*
+## BTNn_SFUNCTION: Function for button when the shift mode is toggled on
 
-Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
+Set to 0 to disable or choose a function
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|1|Navigation|
-|2|Terrain|
-
-- RebootRequired: True
-
-## EK2_MAG_EF_LIM: EarthField error limit
-
-*Note: This parameter is for advanced users*
-
-This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
-
-- Range: 0 500
-
-- Units: mGauss
-
-## EK2_HRT_FILT: Height rate filter crossover frequency
-
-Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
-
-- Range: 0.1 30.0
-
-- Units: Hz
-
-- RebootRequired: False
-
-## EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
-
-*Note: This parameter is for advanced users*
-
-1 byte bitmap of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE, EK2_GSF_DELAY and EK2_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE to 0. 
-
-- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
-
-- RebootRequired: True
-
-## EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
-
-*Note: This parameter is for advanced users*
-
-1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. Additionally the EKF2 will  initiate a reset internally if navigation is lost for more than EK2_GSF_DELAY milli seconds.
-
-- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
-
-- RebootRequired: True
-
-## EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed
-
-*Note: This parameter is for advanced users*
-
-Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.
-
-- Range: 1 10
-
-- Increment: 1
-
-- RebootRequired: True
-
-# EK3 Parameters
+|0|Disabled|
+|1|shift|
+|2|arm_toggle|
+|3|arm|
+|4|disarm|
+|5|mode_manual|
+|6|mode_stabilize|
+|7|mode_depth_hold|
+|8|mode_poshold|
+|9|mode_auto|
+|10|mode_circle|
+|11|mode_guided|
+|12|mode_acro|
+|21|mount_center|
+|22|mount_tilt_up|
+|23|mount_tilt_down|
+|24|camera_trigger|
+|25|camera_source_toggle|
+|26|mount_pan_right|
+|27|mount_pan_left|
+|31|lights1_cycle|
+|32|lights1_brighter|
+|33|lights1_dimmer|
+|34|lights2_cycle|
+|35|lights2_brighter|
+|36|lights2_dimmer|
+|41|gain_toggle|
+|42|gain_inc|
+|43|gain_dec|
+|44|trim_roll_inc|
+|45|trim_roll_dec|
+|46|trim_pitch_inc|
+|47|trim_pitch_dec|
+|48|input_hold_set|
+|49|roll_pitch_toggle|
+|51|relay_1_on|
+|52|relay_1_off|
+|53|relay_1_toggle|
+|54|relay_2_on|
+|55|relay_2_off|
+|56|relay_2_toggle|
+|57|relay_3_on|
+|58|relay_3_off|
+|59|relay_3_toggle|
+|61|servo_1_inc|
+|62|servo_1_dec|
+|63|servo_1_min|
+|64|servo_1_max|
+|65|servo_1_center|
+|66|servo_2_inc|
+|67|servo_2_dec|
+|68|servo_2_min|
+|69|servo_2_max|
+|70|servo_2_center|
+|71|servo_3_inc|
+|72|servo_3_dec|
+|73|servo_3_min|
+|74|servo_3_max|
+|75|servo_3_center|
+|76|servo_1_min_momentary|
+|77|servo_1_max_momentary|
+|78|servo_1_min_toggle|
+|79|servo_1_max_toggle|
+|80|servo_2_min_momentary|
+|81|servo_2_max_momentary|
+|82|servo_2_min_toggle|
+|83|servo_2_max_toggle|
+|84|servo_3_min_momentary|
+|85|servo_3_max_momentary|
+|86|servo_3_min_toggle|
+|87|servo_3_max_toggle|
+|91|custom_1|
+|92|custom_2|
+|93|custom_3|
+|94|custom_4|
+|95|custom_5|
+|96|custom_6|
+|101|relay_4_on|
+|102|relay_4_off|
+|103|relay_4_toggle|
+|104|relay_1_momentary|
+|105|relay_2_momentary|
+|106|relay_3_momentary|
+|107|relay_4_momentary|
 
-## EK3_ENABLE: Enable EKF3
+# CAM Parameters
 
-*Note: This parameter is for advanced users*
+## CAM_TRIGG_TYPE: Camera shutter (trigger) type
 
-This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.
+how to trigger the camera to take a picture
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-- RebootRequired: True
-
-## EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
-
-*Note: This parameter is for advanced users*
-
-This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
-
-- Range: 0.05 5.0
-
-- Increment: 0.05
-
-- Units: m/s
-
-## EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
-
-*Note: This parameter is for advanced users*
-
-This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
-
-- Range: 0.05 5.0
-
-- Increment: 0.05
-
-- Units: m/s
-
-## EK3_VEL_I_GATE: GPS velocity innovation gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)
-
-*Note: This parameter is for advanced users*
-
-This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
-
-- Range: 0.1 10.0
-
-- Increment: 0.1
-
-- Units: m
-
-## EK3_POS_I_GATE: GPS position measurement gate size
-
-*Note: This parameter is for advanced users*
-
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
-
-## EK3_GLITCH_RAD: GPS glitch radius gate size (m)
-
-*Note: This parameter is for advanced users*
-
-This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
-
-- Range: 10 100
+|0|Servo|
+|1|Relay|
+|2|GoPro in Solo Gimbal|
 
-- Increment: 5
+## CAM_DURATION: Duration that shutter is held open
 
-- Units: m
+How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)
 
-## EK3_ALT_M_NSE: Altitude measurement noise (m)
+- Units: ds
 
-*Note: This parameter is for advanced users*
+- Range: 0 50
 
-This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
+## CAM_SERVO_ON: Servo ON PWM value
 
-- Range: 0.1 10.0
+PWM value in microseconds to move servo to when shutter is activated
 
-- Increment: 0.1
+- Units: PWM
 
-- Units: m
+- Range: 1000 2000
 
-## EK3_HGT_I_GATE: Height measurement gate size
+## CAM_SERVO_OFF: Servo OFF PWM value
 
-*Note: This parameter is for advanced users*
+PWM value in microseconds to move servo to when shutter is deactivated
 
-This sets the percentage 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.
+- Units: PWM
 
-- Range: 100 1000
+- Range: 1000 2000
 
-- Increment: 25
+## CAM_TRIGG_DIST: Camera trigger distance
 
-## EK3_HGT_DELAY: Height measurement delay (msec)
+Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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.
 
-*Note: This parameter is for advanced users*
+- Units: m
 
-This is the number of msec that the Height measurements lag behind the inertial measurements.
+- Range: 0 1000
 
-- Range: 0 250
+## CAM_RELAY_ON: Relay ON value
 
-- Increment: 10
+This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera
 
-- RebootRequired: True
+|Value|Meaning|
+|:---:|:---:|
+|0|Low|
+|1|High|
 
-- Units: ms
+## CAM_MIN_INTERVAL: Minimum time between photos
 
-## EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)
+Postpone shooting if previous picture was taken less than preset time(ms) ago.
 
-*Note: This parameter is for advanced users*
+- Units: ms
 
-This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
+- Range: 0 10000
 
-- Range: 0.01 0.5
+## CAM_MAX_ROLL: Maximum photo roll angle.
 
-- Increment: 0.01
+Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).
 
-- Units: Gauss
+- Units: deg
 
-## EK3_MAG_CAL: Magnetometer default fusion mode
+- Range: 0 180
 
-*Note: This parameter is for advanced users*
+## CAM_FEEDBACK_PIN: Camera feedback pin
 
-This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.
+pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|When flying|
-|1|When manoeuvring|
-|2|Never|
-|3|After first climb yaw reset|
-|4|Always|
-|5|Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)|
-|6|External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)|
+|-1|Disabled|
+|50|AUX1|
+|51|AUX2|
+|52|AUX3|
+|53|AUX4|
+|54|AUX5|
+|55|AUX6|
 
 - RebootRequired: True
 
-## EK3_MAG_I_GATE: Magnetometer measurement gate size
+## CAM_FEEDBACK_POL: Camera feedback pin polarity
 
-*Note: This parameter is for advanced users*
+Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low
 
-This sets the percentage 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.
+|Value|Meaning|
+|:---:|:---:|
+|0|TriggerLow|
+|1|TriggerHigh|
 
-- Range: 100 1000
+## CAM_AUTO_ONLY: Distance-trigging in AUTO mode only
 
-- Increment: 25
+When enabled, trigging by distance is done in AUTO mode only.
 
-## EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
+|Value|Meaning|
+|:---:|:---:|
+|0|Always|
+|1|Only when in AUTO|
 
-*Note: This parameter is for advanced users*
+## CAM_TYPE: Type of camera (0: None, 1: BMMCC)
 
-This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
+Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.
 
-- Range: 0.5 5.0
+|Value|Meaning|
+|:---:|:---:|
+|0|Default|
+|1|BMMCC|
 
-- Increment: 0.1
+# CAMRC Parameters
 
-- Units: m/s
+## CAM_RC_TYPE: RunCam device type
 
-## EK3_EAS_I_GATE: Airspeed measurement gate size
+RunCam deviee type used to determine OSD menu structure and shutter options.
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|RunCam Split Micro/RunCam with UART|
+|2|RunCam Split|
+|3|RunCam Split4 4k|
+|4|RunCam Hybrid|
 
-This sets the percentage 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.
+## CAM_RC_FEATURES: RunCam features available
 
-- Range: 100 1000
+*Note: This parameter is for advanced users*
 
-- Increment: 25
+The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.
 
-## EK3_RNG_M_NSE: Range finder measurement noise (m)
+- Bitmask: 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording
+
+## CAM_RC_BT_DELAY: RunCam boot delay before allowing updates
 
 *Note: This parameter is for advanced users*
 
-This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
+Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.
 
-- Range: 0.1 10.0
+## CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses
 
-- Increment: 0.1
+*Note: This parameter is for advanced users*
 
-- Units: m
+Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
 
-## EK3_RNG_I_GATE: Range finder measurement gate size
+## CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses
 
 *Note: This parameter is for advanced users*
 
-This sets the percentage 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.
-
-- Range: 100 1000
-
-- Increment: 25
+Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
 
-## EK3_MAX_FLOW: Maximum valid optical flow rate
+## CAM_RC_CONTROL: RunCam control option
 
 *Note: This parameter is for advanced users*
 
-This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
-
-- Range: 1.0 4.0
+Specifies the allowed actions required to enter the OSD menu
 
-- Increment: 0.1
+- Bitmask: 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled
 
-- Units: rad/s
+# CAN Parameters
 
-## EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)
+## CAN_LOGLEVEL: Loglevel
 
 *Note: This parameter is for advanced users*
 
-This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
+Loglevel for recording initialisation and debug information from CAN Interface
 
-- Range: 0.05 1.0
+- Range: 0 4
 
-- Increment: 0.05
+|Value|Meaning|
+|:---:|:---:|
+|0|Log None|
+|1|Log Error|
+|2|Log Warning and below|
+|3|Log Info and below|
+|4|Log Everything|
 
-- Units: rad/s
+# CANDn Parameters
 
-## EK3_FLOW_I_GATE: Optical Flow measurement gate size
+## CAN_Dn_PROTOCOL: Enable use of specific protocol over virtual driver
 
 *Note: This parameter is for advanced users*
 
-This sets the percentage 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.
+Enabling this option starts selected protocol that will use this virtual driver
 
-- Range: 100 1000
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|UAVCAN|
+|3|ToshibaCAN|
+|4|PiccoloCAN|
+|5|CANTester|
+|8|KDECAN|
+|9|PacketDigitalCAN|
 
-- Increment: 25
+- RebootRequired: True
 
-## EK3_FLOW_DELAY: Optical Flow measurement delay (msec)
+# CANDnKDE Parameters
 
-*Note: This parameter is for advanced users*
+## CAN_Dn_KDE_NPOLE: Number of motor poles
 
-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.
+Sets the number of motor poles to calculate the correct RPM value
 
-- Range: 0 250
+# CANDnPC Parameters
 
-- Increment: 10
+## CAN_Dn_PC_ESC_BM: ESC channels
 
-- RebootRequired: True
+*Note: This parameter is for advanced users*
 
-- Units: ms
+Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
 
-## EK3_GYRO_P_NSE: Rate gyro noise (rad/s)
+- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
 
-*Note: This parameter is for advanced users*
+## CAN_Dn_PC_ESC_RT: ESC output rate
 
-This control disturbance 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.
+*Note: This parameter is for advanced users*
 
-- Range: 0.0001 0.1
+Output rate of ESC command messages
 
-- Increment: 0.0001
+- Units: Hz
 
-- Units: rad/s
+- Range: 1 500
 
-## EK3_ACC_P_NSE: Accelerometer noise (m/s^2)
+## CAN_Dn_PC_SRV_BM: Servo channels
 
 *Note: This parameter is for advanced users*
 
-This control disturbance 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.
-
-- Range: 0.01 1.0
-
-- Increment: 0.01
+Bitmask defining which servo channels are to be transmitted over Piccolo CAN
 
-- Units: m/s/s
+- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16
 
-## EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
+## CAN_Dn_PC_SRV_RT: Servo command output rate
 
 *Note: This parameter is for advanced users*
 
-This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
+Output rate of servo command messages
 
-- Range: 0.00001 0.001
+- Units: Hz
 
-- Units: rad/s/s
+- Range: 1 500
 
-## EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
+# CANDnTST Parameters
+
+## CAN_Dn_TST_ID: CAN Test Index
 
 *Note: This parameter is for advanced users*
 
-This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
+Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
 
-- Range: 0.00001 0.005
+- Range: 0 4
 
-- Units: m/s/s/s
+|Value|Meaning|
+|:---:|:---:|
+|0|TEST_NONE|
+|1|TEST_LOOPBACK|
+|2|TEST_BUSOFF_RECOVERY|
+|3|TEST_UAVCAN_DNA|
+|4|TEST_TOSHIBA_CAN|
+|5|TEST_KDE_CAN|
+|6|TEST_UAVCAN_ESC|
 
-## EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)
+## CAN_Dn_TST_LPR8: CANTester LoopRate
 
 *Note: This parameter is for advanced users*
 
-This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
-
-- Range: 0.01 2.0
+Selects the Looprate of Test methods
 
-- Increment: 0.1
+- Units: us
 
-- Units: m/s/s
+# CANDnUC Parameters
 
-## EK3_WIND_PSCALE: Height rate to wind process noise scaler
+## CAN_Dn_UC_NODE: UAVCAN node that is used for this network
 
 *Note: This parameter is for advanced users*
 
-This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
-
-- Range: 0.0 2.0
+UAVCAN node should be set implicitly
 
-- Increment: 0.1
+- Range: 1 250
 
-## EK3_GPS_CHECK: GPS preflight check
+## CAN_Dn_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
 
 *Note: This parameter is for advanced users*
 
-This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
+Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
 
-- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed
+- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15
 
-## EK3_IMU_MASK: Bitmask of active IMUs
+## CAN_Dn_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
 
 *Note: This parameter is for advanced users*
 
-1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.
-
-- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
+Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
 
-- RebootRequired: True
+- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
 
-## EK3_CHECK_SCALE: GPS accuracy check scaler (%)
+## CAN_Dn_UC_SRV_RT: Servo output rate
 
 *Note: This parameter is for advanced users*
 
-This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
+Maximum transmit rate for servo outputs
 
-- Range: 50 200
+- Range: 1 200
 
-- Units: %
+- Units: Hz
 
-## EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
+## CAN_Dn_UC_OPTION: UAVCAN options
 
 *Note: This parameter is for advanced users*
 
-This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
-
-- Range: 0.5 50.0
+Option flags
 
-- Units: m
+- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts
 
-## EK3_BETA_MASK: Bitmask controlling sidelip angle fusion
+# CANPn Parameters
 
-*Note: This parameter is for advanced users*
+## CAN_Pn_DRIVER: Index of virtual driver to be used with physical CAN interface
 
-1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected  whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.
+Enabling this option enables use of CAN buses.
 
-- Bitmask: 0:Always,1:WhenNoYawSensor
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|First driver|
+|2|Second driver|
 
 - RebootRequired: True
 
-## EK3_YAW_M_NSE: Yaw measurement noise (rad)
+## CAN_Pn_BITRATE: Bitrate of CAN interface
 
 *Note: This parameter is for advanced users*
 
-This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
+Bit rate can be set up to from 10000 to 1000000
 
-- Range: 0.05 1.0
+- Range: 10000 1000000
 
-- Increment: 0.05
+# CANSLCAN Parameters
 
-- Units: rad
+## CAN_SLCAN_CPORT: SLCAN Route
 
-## EK3_YAW_I_GATE: Yaw measurement gate size
+CAN Interface ID to be routed to SLCAN, 0 means no routing
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|First interface|
+|2|Second interface|
 
-This sets the percentage number of standard deviations applied to the magnetometer yaw 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.
+- RebootRequired: True
 
-- Range: 100 1000
+## CAN_SLCAN_SERNUM: SLCAN Serial Port
 
-- Increment: 25
+Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details
 
-## EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disabled|
+|0|Serial0|
+|1|Serial1|
+|2|Serial2|
+|3|Serial3|
+|4|Serial4|
+|5|Serial5|
+|6|Serial6|
 
-*Note: This parameter is for advanced users*
+## CAN_SLCAN_TIMOUT: SLCAN Timeout
 
-Sets the time constant of the output complementary filter/predictor in centi-seconds.
+Duration of inactivity after which SLCAN is switched back to original driver in seconds.
 
-- Range: 10 50
+- Range: 0 127
 
-- Increment: 5
+## CAN_SLCAN_SDELAY: SLCAN Start Delay
 
-- Units: cs
+Duration after which slcan starts after setting SERNUM in seconds.
 
-## EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
+- Range: 0 127
 
-*Note: This parameter is for advanced users*
+# CIRCLE Parameters
 
-This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
+## CIRCLE_RADIUS: Circle Radius
 
-- Range: 0.00001 0.01
+Defines the radius of the circle the vehicle will fly when in Circle flight mode
 
-- Units: Gauss/s
+- Units: cm
 
-## EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
+- Range: 0 200000
 
-*Note: This parameter is for advanced users*
+- Increment: 100
 
-This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
+## CIRCLE_RATE: Circle rate
 
-- Range: 0.00001 0.01
+Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise
 
-- Units: Gauss/s
+- Units: deg/s
 
-## EK3_RNG_USE_HGT: Range finder switch height percentage
+- Range: -90 90
 
-*Note: This parameter is for advanced users*
+- Increment: 1
 
-Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
+## CIRCLE_OPTIONS: Circle options
 
-- Range: -1 70
+0:Enable or disable using the pitch/roll stick control circle mode's radius and rate
 
-- Increment: 1
+- Bitmask: 0:manual control, 1:face direction of travel, 2:Start at center rather than on perimeter
 
-- Units: %
+# COMPASS Parameters
 
-## EK3_TERR_GRAD: Maximum terrain gradient
+## COMPASS_OFS_X: Compass offsets in milligauss on the X axis
 
 *Note: This parameter is for advanced users*
 
-Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference
+Offset to be added to the compass x-axis values to compensate for metal in the frame
 
-- Range: 0 0.2
+- Range: -400 400
 
-- Increment: 0.01
+- Units: mGauss
 
-## EK3_BCN_M_NSE: Range beacon measurement noise (m)
+- Increment: 1
+
+- Calibration: 1
+
+## COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis
 
 *Note: This parameter is for advanced users*
 
-This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
+Offset to be added to the compass y-axis values to compensate for metal in the frame
 
-- Range: 0.1 10.0
+- Range: -400 400
 
-- Increment: 0.1
+- Units: mGauss
 
-- Units: m
+- Increment: 1
 
-## EK3_BCN_I_GTE: Range beacon measurement gate size
+- Calibration: 1
 
-*Note: This parameter is for advanced users*
+## COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis
 
-This sets the percentage number of standard deviations applied to the range beacon 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.
+*Note: This parameter is for advanced users*
 
-- Range: 100 1000
+Offset to be added to the compass z-axis values to compensate for metal in the frame
 
-- Increment: 25
+- Range: -400 400
 
-## EK3_BCN_DELAY: Range beacon measurement delay (msec)
+- Units: mGauss
 
-*Note: This parameter is for advanced users*
+- Increment: 1
 
-This is the number of msec that the range beacon measurements lag behind the inertial measurements.
+## COMPASS_DEC: Compass declination
 
-- Range: 0 250
+An angle to compensate between the true north and magnetic north
 
-- Increment: 10
+- Range: -3.142 3.142
 
-- RebootRequired: True
+- Units: rad
 
-- Units: ms
+- Increment: 0.01
 
-## EK3_RNG_USE_SPD: Range finder max ground speed
+## COMPASS_LEARN: Learn compass offsets automatically
 
 *Note: This parameter is for advanced users*
 
-The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
+Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
 
-- Range: 2.0 6.0
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Internal-Learning|
+|2|EKF-Learning|
+|3|InFlight-Learning|
 
-- Increment: 0.5
+## COMPASS_USE: Use compass for yaw
 
-- Units: m/s
+*Note: This parameter is for advanced users*
 
-## EK3_ACC_BIAS_LIM: Accelerometer bias limit
+Enable or disable the use of the compass (instead of the GPS) for determining heading
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-The accelerometer bias state will be limited to +- this value
+## COMPASS_AUTODEC: Auto Declination
 
-- Range: 0.5 2.5
+*Note: This parameter is for advanced users*
 
-- Increment: 0.1
+Enable or disable the automatic calculation of the declination based on gps location
 
-- Units: m/s/s
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-## EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
+## COMPASS_MOTCT: Motor interference compensation type
 
 *Note: This parameter is for advanced users*
 
-1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
+Set motor interference compensation type to disabled, throttle or current.  Do not change manually.
 
-- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Use Throttle|
+|2|Use Current|
 
-- RebootRequired: True
+- Calibration: 1
 
-## EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction
+## COMPASS_MOT_X: Motor interference compensation for body frame X axis
 
 *Note: This parameter is for advanced users*
 
-When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
+Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
 
-- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position
+- Range: -1000 1000
 
-- RebootRequired: True
+- Units: mGauss/A
 
-## EK3_VIS_VERR_MIN: Visual odometry minimum velocity error
+- Increment: 1
+
+- Calibration: 1
+
+## COMPASS_MOT_Y: Motor interference compensation for body frame Y axis
 
 *Note: This parameter is for advanced users*
 
-This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
+Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
 
-- Range: 0.05 0.5
+- Range: -1000 1000
 
-- Increment: 0.05
+- Units: mGauss/A
 
-- Units: m/s
+- Increment: 1
 
-## EK3_VIS_VERR_MAX: Visual odometry maximum velocity error
+- Calibration: 1
+
+## COMPASS_MOT_Z: Motor interference compensation for body frame Z axis
 
 *Note: This parameter is for advanced users*
 
-This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
+Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
 
-- Range: 0.5 5.0
+- Range: -1000 1000
 
-- Increment: 0.1
+- Units: mGauss/A
 
-- Units: m/s
+- Increment: 1
 
-## EK3_WENC_VERR: Wheel odometry velocity error
+## COMPASS_ORIENT: Compass orientation
 
 *Note: This parameter is for advanced users*
 
-This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.
-
-- Range: 0.01 1.0
-
-- Increment: 0.1
+The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
 
-- Units: m/s
+|Value|Meaning|
+|:---:|:---:|
+|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|Roll270Yaw135|
+|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|
+|39|Pitch315|
+|40|Roll90Pitch315|
+|100|Custom|
 
-## EK3_FLOW_USE: Optical flow use bitmask
+## COMPASS_EXTERNAL: Compass is attached via an external cable
 
 *Note: This parameter is for advanced users*
 
-Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
+Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. 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. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|1|Navigation|
-|2|Terrain|
+|0|Internal|
+|1|External|
+|2|ForcedExternal|
 
-- RebootRequired: True
+## COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis
 
-## EK3_HRT_FILT: Height rate filter crossover frequency
+*Note: This parameter is for advanced users*
 
-Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
+Offset to be added to compass2's x-axis values to compensate for metal in the frame
 
-- Range: 0.1 30.0
+- Range: -400 400
 
-- Units: Hz
+- Units: mGauss
 
-- RebootRequired: False
+- Increment: 1
 
-## EK3_MAG_EF_LIM: EarthField error limit
+- Calibration: 1
+
+## COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis
 
 *Note: This parameter is for advanced users*
 
-This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
+Offset to be added to compass2's y-axis values to compensate for metal in the frame
 
-- Range: 0 500
+- Range: -400 400
 
 - Units: mGauss
 
-## EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
-
-*Note: This parameter is for advanced users*
-
-1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE, EK3_GSF_DELAY and EK3_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. 
-
-- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
+- Increment: 1
 
-- RebootRequired: True
+- Calibration: 1
 
-## EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
+## COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis
 
 *Note: This parameter is for advanced users*
 
-1 byte bitmap of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. Additionally the EKF3 will  initiate a reset internally if navigation is lost for more than EK3_GSF_DELAY milli seconds.
+Offset to be added to compass2's z-axis values to compensate for metal in the frame
 
-- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
+- Range: -400 400
 
-- RebootRequired: True
+- Units: mGauss
 
-## EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed
+- Increment: 1
+
+## COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis
 
 *Note: This parameter is for advanced users*
 
-Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.
+Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
 
-- Range: 1 10
+- Range: -1000 1000
+
+- Units: mGauss/A
 
 - Increment: 1
 
-- RebootRequired: True
+- Calibration: 1
 
-## EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold
+## COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis
 
 *Note: This parameter is for advanced users*
 
-lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences
+Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
 
-- Range: 0.05 1
+- Range: -1000 1000
 
-- Increment: 0.05
+- Units: mGauss/A
 
-## EK3_AFFINITY: EKF3 Sensor Affinity Options
+- Increment: 1
 
-*Note: This parameter is for advanced users*
+- Calibration: 1
 
-These options control the affinity between sensor instances and EKF cores
+## COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis
 
-- Bitmask: 0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity
+*Note: This parameter is for advanced users*
 
-- RebootRequired: True
+Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
 
-## EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag
+- Range: -1000 1000
 
-*Note: This parameter is for advanced users*
+- Units: mGauss/A
 
-Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
+- Increment: 1
 
-- Range: 0.0 1000.0
+## COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis
 
-- Units: kg/m/m
+*Note: This parameter is for advanced users*
 
-## EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag
+Offset to be added to compass3's x-axis values to compensate for metal in the frame
 
-*Note: This parameter is for advanced users*
+- Range: -400 400
 
-Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
+- Units: mGauss
 
-- Range: 50.0 1000.0
+- Increment: 1
 
-- Units: kg/m/m
+- Calibration: 1
 
-## EK3_DRAG_M_NSE: Observation noise for drag acceleration
+## COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis
 
 *Note: This parameter is for advanced users*
 
-This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters
+Offset to be added to compass3's y-axis values to compensate for metal in the frame
 
-- Range: 0.1 2.0
+- Range: -400 400
 
-- Increment: 0.1
+- Units: mGauss
 
-- Units: m/s/s
+- Increment: 1
 
-## EK3_DRAG_MCOEF: Momentum coefficient for propeller drag
+- Calibration: 1
+
+## COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis
 
 *Note: This parameter is for advanced users*
 
-This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.
+Offset to be added to compass3's z-axis values to compensate for metal in the frame
 
-- Range: 0.0 1.0
+- Range: -400 400
 
-- Increment: 0.01
+- Units: mGauss
 
-- Units: 1/s
+- Increment: 1
 
-## EK3_OGNM_TEST_SF: On ground not moving test scale factor
+## COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis
 
 *Note: This parameter is for advanced users*
 
-This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.
-
-- Range: 1.0 10.0
-
-- Increment: 0.5
-
-## EK3_GND_EFF_DZ: Baro height ground effect dead zone
+Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
 
-*Note: This parameter is for advanced users*
+- Range: -1000 1000
 
-This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. 
+- Units: mGauss/A
 
-- Range: 0.0 10.0
+- Increment: 1
 
-- Increment: 0.5
+- Calibration: 1
 
-## EK3_PRIMARY: Primary core number
+## COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis
 
 *Note: This parameter is for advanced users*
 
-The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.
+Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
 
-- Range: 0 2
+- Range: -1000 1000
+
+- Units: mGauss/A
 
 - Increment: 1
 
-# EK3SRC Parameters
+- Calibration: 1
 
-## EK3_SRC1_POSXY: Position Horizontal Source (Primary)
+## COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis
 
 *Note: This parameter is for advanced users*
 
-Position Horizontal Source (Primary)
+Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|3|GPS|
-|4|Beacon|
-|6|ExternalNav|
+- Range: -1000 1000
 
-## EK3_SRC1_VELXY: Velocity Horizontal Source
+- Units: mGauss/A
+
+- Increment: 1
+
+## COMPASS_DEV_ID: Compass device id
 
 *Note: This parameter is for advanced users*
 
-Velocity Horizontal Source
+Compass device id.  Automatically detected, do not set manually
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|3|GPS|
-|4|Beacon|
-|5|OpticalFlow|
-|6|ExternalNav|
-|7|WheelEncoder|
+- ReadOnly: True
 
-## EK3_SRC1_POSZ: Position Vertical Source
+## COMPASS_DEV_ID2: Compass2 device id
 
 *Note: This parameter is for advanced users*
 
-Position Vertical Source
+Second compass's device id.  Automatically detected, do not set manually
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Baro|
-|2|RangeFinder|
-|3|GPS|
-|4|Beacon|
-|6|ExternalNav|
+- ReadOnly: True
 
-## EK3_SRC1_VELZ: Velocity Vertical Source
+## COMPASS_DEV_ID3: Compass3 device id
 
 *Note: This parameter is for advanced users*
 
-Velocity Vertical Source
+Third compass's device id.  Automatically detected, do not set manually
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|3|GPS|
-|4|Beacon|
-|6|ExternalNav|
+- ReadOnly: True
 
-## EK3_SRC1_YAW: Yaw Source
+## COMPASS_USE2: Compass2 used for yaw
 
 *Note: This parameter is for advanced users*
 
-Yaw Source
+Enable or disable the secondary compass for determining heading.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|1|Compass|
-|2|GPS|
-|3|GPS with Compass Fallback|
-|6|ExternalNav|
-|8|GSF|
+|0|Disabled|
+|1|Enabled|
 
-## EK3_SRC2_POSXY: Position Horizontal Source (Secondary)
+## COMPASS_ORIENT2: Compass2 orientation
 
 *Note: This parameter is for advanced users*
 
-Position Horizontal Source (Secondary)
+The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
 
 |Value|Meaning|
 |:---:|:---:|
 |0|None|
-|3|GPS|
-|4|Beacon|
-|6|ExternalNav|
+|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|Roll270Yaw135|
+|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|
+|39|Pitch315|
+|40|Roll90Pitch315|
+|100|Custom|
 
-## EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)
+## COMPASS_EXTERN2: Compass2 is attached via an external cable
 
 *Note: This parameter is for advanced users*
 
-Velocity Horizontal Source (Secondary)
+Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|3|GPS|
-|4|Beacon|
-|5|OpticalFlow|
-|6|ExternalNav|
-|7|WheelEncoder|
+|0|Internal|
+|1|External|
+|2|ForcedExternal|
 
-## EK3_SRC2_POSZ: Position Vertical Source (Secondary)
+## COMPASS_USE3: Compass3 used for yaw
 
 *Note: This parameter is for advanced users*
 
-Position Vertical Source (Secondary)
+Enable or disable the tertiary compass for determining heading.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|1|Baro|
-|2|RangeFinder|
-|3|GPS|
-|4|Beacon|
-|6|ExternalNav|
+|0|Disabled|
+|1|Enabled|
 
-## EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)
+## COMPASS_ORIENT3: Compass3 orientation
 
 *Note: This parameter is for advanced users*
 
-Velocity Vertical Source (Secondary)
+The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
 
 |Value|Meaning|
 |:---:|:---:|
 |0|None|
-|3|GPS|
-|4|Beacon|
-|6|ExternalNav|
+|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|Roll270Yaw135|
+|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|
+|39|Pitch315|
+|40|Roll90Pitch315|
+|100|Custom|
 
-## EK3_SRC2_YAW: Yaw Source (Secondary)
+## COMPASS_EXTERN3: Compass3 is attached via an external cable
 
 *Note: This parameter is for advanced users*
 
-Yaw Source (Secondary)
+Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|1|Compass|
-|2|GPS|
-|3|GPS with Compass Fallback|
-|6|ExternalNav|
-|8|GSF|
+|0|Internal|
+|1|External|
+|2|ForcedExternal|
 
-## EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)
+## COMPASS_DIA_X: Compass soft-iron diagonal X component
 
 *Note: This parameter is for advanced users*
 
-Position Horizontal Source (Tertiary)
+DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|3|GPS|
-|4|Beacon|
-|6|ExternalNav|
+- Calibration: 1
 
-## EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)
+## COMPASS_DIA_Y: Compass soft-iron diagonal Y component
 
 *Note: This parameter is for advanced users*
 
-Velocity Horizontal Source (Tertiary)
+DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|3|GPS|
-|4|Beacon|
-|5|OpticalFlow|
-|6|ExternalNav|
-|7|WheelEncoder|
+- Calibration: 1
 
-## EK3_SRC3_POSZ: Position Vertical Source (Tertiary)
+## COMPASS_DIA_Z: Compass soft-iron diagonal Z component
 
 *Note: This parameter is for advanced users*
 
-Position Vertical Source (Tertiary)
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Baro|
-|2|RangeFinder|
-|3|GPS|
-|4|Beacon|
-|6|ExternalNav|
+DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-## EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)
+## COMPASS_ODI_X: Compass soft-iron off-diagonal X component
 
 *Note: This parameter is for advanced users*
 
-Velocity Vertical Source (Tertiary)
+ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|3|GPS|
-|4|Beacon|
-|6|ExternalNav|
+- Calibration: 1
 
-## EK3_SRC3_YAW: Yaw Source (Tertiary)
+## COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component
 
 *Note: This parameter is for advanced users*
 
-Yaw Source (Tertiary)
+ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Compass|
-|2|GPS|
-|3|GPS with Compass Fallback|
-|6|ExternalNav|
-|8|GSF|
+- Calibration: 1
 
-## EK3_SRC_OPTIONS: EKF Source Options
+## COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component
 
 *Note: This parameter is for advanced users*
 
-EKF Source Options
-
-- Bitmask: 0:FuseAllVelocities
-
-# FENCE Parameters
-
-## FENCE_ENABLE: Fence enable/disable
-
-Allows you to enable (1) or disable (0) the fence functionality
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## FENCE_TYPE: Fence Type
-
-Enabled fence types held as bitmask
-
-- Bitmask: 0:Max altitude,1:Circle,2:Polygon,3:Min altitude
-
-## FENCE_ACTION: Fence Action
-
-What action should be taken when fence is breached
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Report Only|
-|1|RTL or Land|
+ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-## FENCE_ALT_MAX: Fence Maximum Altitude
+## COMPASS_DIA2_X: Compass2 soft-iron diagonal X component
 
-Maximum altitude allowed before geofence triggers
+*Note: This parameter is for advanced users*
 
-- Units: m
+DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-- Range: 10 1000
+- Calibration: 1
 
-- Increment: 1
+## COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component
 
-## FENCE_RADIUS: Circular Fence Radius
+*Note: This parameter is for advanced users*
 
-Circle fence radius which when breached will cause an RTL
+DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-- Units: m
+- Calibration: 1
 
-- Range: 30 10000
+## COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component
 
-## FENCE_MARGIN: Fence Margin
+*Note: This parameter is for advanced users*
 
-Distance that autopilot's should maintain from the fence to avoid a breach
+DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-- Units: m
+## COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component
 
-- Range: 1 10
+*Note: This parameter is for advanced users*
 
-## FENCE_TOTAL: Fence polygon point total
+ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-Number of polygon points saved in eeprom (do not update manually)
+- Calibration: 1
 
-- Range: 1 20
+## COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component
 
-## FENCE_ALT_MIN: Fence Minimum Altitude
+*Note: This parameter is for advanced users*
 
-Minimum altitude allowed before geofence triggers
+ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-- Units: m
+- Calibration: 1
 
-- Range: -100 100
+## COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component
 
-- Increment: 1
+*Note: This parameter is for advanced users*
 
-# FFT Parameters
+ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-## FFT_ENABLE: Enable
+## COMPASS_DIA3_X: Compass3 soft-iron diagonal X component
 
 *Note: This parameter is for advanced users*
 
-Enable Gyro FFT analyser
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-- RebootRequired: True
+- Calibration: 1
 
-## FFT_MINHZ: Minimum Frequency
+## COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component
 
 *Note: This parameter is for advanced users*
 
-Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.
-
-- Range: 20 400
+DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-- Units: Hz
+- Calibration: 1
 
-## FFT_MAXHZ: Maximum Frequency
+## COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component
 
 *Note: This parameter is for advanced users*
 
-Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.
-
-- Range: 20 495
-
-- Units: Hz
+DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-## FFT_SAMPLE_MODE: Sample Mode
+## COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component
 
 *Note: This parameter is for advanced users*
 
-Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.
-
-- Range: 0 4
+ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-- RebootRequired: True
+- Calibration: 1
 
-## FFT_WINDOW_SIZE: FFT window size
+## COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component
 
 *Note: This parameter is for advanced users*
 
-Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.
-
-- Range: 32 1024
+ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-- RebootRequired: True
+- Calibration: 1
 
-## FFT_WINDOW_OLAP: FFT window overlap
+## COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component
 
 *Note: This parameter is for advanced users*
 
-Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.
+ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
 
-- Range: 0 0.9
+## COMPASS_CAL_FIT: Compass calibration fitness
 
-- RebootRequired: True
+*Note: This parameter is for advanced users*
 
-## FFT_FREQ_HOVER: FFT learned hover frequency
+This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
 
-*Note: This parameter is for advanced users*
+- Range: 4 32
 
-The learned hover noise frequency
+|Value|Meaning|
+|:---:|:---:|
+|4|Very Strict|
+|8|Strict|
+|16|Default|
+|32|Relaxed|
 
-- Range: 0 250
+- Increment: 0.1
 
-## FFT_THR_REF: FFT learned thrust reference
+## COMPASS_OFFS_MAX: Compass maximum offset
 
 *Note: This parameter is for advanced users*
 
-FFT learned thrust reference for the hover frequency and FFT minimum frequency.
+This sets the maximum allowed compass offset in calibration and arming checks
 
-- Range: 0.01 0.9
+- Range: 500 3000
 
-## FFT_SNR_REF: FFT SNR reference threshold
+- Increment: 1
+
+## COMPASS_TYPEMASK: Compass disable driver type mask
 
 *Note: This parameter is for advanced users*
 
-FFT SNR reference threshold in dB at which a signal is determined to be present.
+This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
 
-- Range: 0.0 100.0
+- Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS
 
-## FFT_ATT_REF: FFT attenuation for bandwidth calculation
+## COMPASS_FLTR_RNG: Range in which sample is accepted
 
-*Note: This parameter is for advanced users*
+This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
 
-FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.
+- Units: %
 
 - Range: 0 100
 
-## FFT_BW_HOVER: FFT learned bandwidth at hover
+- Increment: 1
 
-*Note: This parameter is for advanced users*
+## COMPASS_AUTO_ROT: Automatically check orientation
 
-FFT learned bandwidth at hover for the attenuation frequencies.
+When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
 
-- Range: 0 200
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|CheckOnly|
+|2|CheckAndFix|
 
-## FFT_HMNC_FIT: FFT harmonic fit frequency threshold
+## COMPASS_PRIO1_ID: Compass device id with 1st order priority
 
 *Note: This parameter is for advanced users*
 
-FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.
-
-- Range: 0 100
+Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
 
 - RebootRequired: True
 
-## FFT_HMNC_PEAK: FFT harmonic peak target
+## COMPASS_PRIO2_ID: Compass device id with 2nd order priority
 
 *Note: This parameter is for advanced users*
 
-The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Auto|
-|1|Center Frequency|
-|2|Lower-Shoulder Frequency|
-|3|Upper-Shoulder Frequency|
-|4|Roll-Axis|
-|5|Pitch-Axis|
+Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
 
-# FRSKY Parameters
+- RebootRequired: True
 
-## FRSKY_UPLINK_ID: Uplink sensor id
+## COMPASS_PRIO3_ID: Compass device id with 3rd order priority
 
 *Note: This parameter is for advanced users*
 
-Change the uplink sensor id (SPort only)
-
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disable|
-|7|7|
-|8|8|
-|9|9|
-|10|10|
-|11|11|
-|12|12|
-|13|13|
-|14|14|
-|15|15|
-|16|16|
-|17|17|
-|18|18|
-|19|19|
-|20|20|
-|21|21|
-|22|22|
-|23|23|
-|24|24|
-|25|25|
-|26|26|
+Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
 
-## FRSKY_DNLINK1_ID: First downlink sensor id
+- RebootRequired: True
 
-*Note: This parameter is for advanced users*
+## COMPASS_ENABLE: Enable Compass
 
-Change the first extra downlink sensor id (SPort only)
+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.
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Disable|
-|7|7|
-|8|8|
-|9|9|
-|10|10|
-|11|11|
-|12|12|
-|13|13|
-|14|14|
-|15|15|
-|16|16|
-|17|17|
-|18|18|
-|19|19|
-|20|20|
-|21|21|
-|22|22|
-|23|23|
-|24|24|
-|25|25|
-|26|26|
-
-## FRSKY_DNLINK2_ID: Second downlink sensor id
+|0|Disabled|
+|1|Enabled|
 
-*Note: This parameter is for advanced users*
+## COMPASS_SCALE: Compass1 scale factor
 
-Change the second extra downlink sensor id (SPort only)
+Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disable|
-|7|7|
-|8|8|
-|9|9|
-|10|10|
-|11|11|
-|12|12|
-|13|13|
-|14|14|
-|15|15|
-|16|16|
-|17|17|
-|18|18|
-|19|19|
-|20|20|
-|21|21|
-|22|22|
-|23|23|
-|24|24|
-|25|25|
-|26|26|
+- Range: 0 1.3
 
-## FRSKY_DNLINK_ID: Default downlink sensor id
+## COMPASS_SCALE2: Compass2 scale factor
 
-*Note: This parameter is for advanced users*
+Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
 
-Change the default downlink sensor id (SPort only)
+- Range: 0 1.3
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disable|
-|7|7|
-|8|8|
-|9|9|
-|10|10|
-|11|11|
-|12|12|
-|13|13|
-|14|14|
-|15|15|
-|16|16|
-|17|17|
-|18|18|
-|19|19|
-|20|20|
-|21|21|
-|22|22|
-|23|23|
-|24|24|
-|25|25|
-|26|26|
-|27|27|
+## COMPASS_SCALE3: Compass3 scale factor
 
-# GEN Parameters
+Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
 
-## GEN_TYPE: Generator type
+- Range: 0 1.3
 
-Generator type
+## COMPASS_OPTIONS: Compass options
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|IE 650w 800w Fuel Cell|
-|2|IE 2.4kW Fuel Cell|
-|3|Richenpower|
+*Note: This parameter is for advanced users*
 
-- RebootRequired: True
+This sets options to change the behaviour of the compass
 
-# GPS Parameters
+- Bitmask: 0:CalRequireGPS
 
-## GPS_TYPE: 1st GPS type
+## COMPASS_DEV_ID4: Compass4 device id
 
 *Note: This parameter is for advanced users*
 
-GPS type of 1st GPS
+Extra 4th compass's device id.  Automatically detected, do not set manually
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|AUTO|
-|2|uBlox|
-|3|MTK|
-|4|MTK19|
-|5|NMEA|
-|6|SiRF|
-|7|HIL|
-|8|SwiftNav|
-|9|UAVCAN|
-|10|SBF|
-|11|GSOF|
-|13|ERB|
-|14|MAV|
-|15|NOVA|
-|16|HemisphereNMEA|
-|17|uBlox-MovingBaseline-Base|
-|18|uBlox-MovingBaseline-Rover|
-|19|MSP|
-|20|AllyStar|
-|21|ExternalAHRS|
+- ReadOnly: True
 
-- RebootRequired: True
+## COMPASS_DEV_ID5: Compass5 device id
 
-## GPS_TYPE2: 2nd GPS type
+*Note: This parameter is for advanced users*
+
+Extra 5th compass's device id.  Automatically detected, do not set manually
+
+- ReadOnly: True
+
+## COMPASS_DEV_ID6: Compass6 device id
 
 *Note: This parameter is for advanced users*
 
-GPS type of 2nd GPS
-
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|AUTO|
-|2|uBlox|
-|3|MTK|
-|4|MTK19|
-|5|NMEA|
-|6|SiRF|
-|7|HIL|
-|8|SwiftNav|
-|9|UAVCAN|
-|10|SBF|
-|11|GSOF|
-|13|ERB|
-|14|MAV|
-|15|NOVA|
-|16|HemisphereNMEA|
-|17|uBlox-MovingBaseline-Base|
-|18|uBlox-MovingBaseline-Rover|
-|19|MSP|
-|20|AllyStar|
-|21|ExternalAHRS|
+Extra 6th compass's device id.  Automatically detected, do not set manually
 
-- RebootRequired: True
+- ReadOnly: True
 
-## GPS_NAVFILTER: Navigation filter setting
+## COMPASS_DEV_ID7: Compass7 device id
 
 *Note: This parameter is for advanced users*
 
-Navigation filter engine setting
+Extra 7th compass's device id.  Automatically detected, do not set manually
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Portable|
-|2|Stationary|
-|3|Pedestrian|
-|4|Automotive|
-|5|Sea|
-|6|Airborne1G|
-|7|Airborne2G|
-|8|Airborne4G|
+- ReadOnly: True
 
-## GPS_AUTO_SWITCH: Automatic Switchover Setting
+## COMPASS_DEV_ID8: Compass8 device id
 
 *Note: This parameter is for advanced users*
 
-Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
+Extra 8th compass's device id.  Automatically detected, do not set manually
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Use primary|
-|1|UseBest|
-|2|Blend|
-|4|Use primary if 3D fix or better|
+- ReadOnly: True
 
-## GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS
+## COMPASS_CUS_ROLL: Custom orientation roll offset
 
 *Note: This parameter is for advanced users*
 
-Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
+Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Any|
-|50|FloatRTK|
-|100|IntegerRTK|
+- Range: -180 180
+
+- Units: deg
+
+- Increment: 1
 
 - RebootRequired: True
 
-## GPS_SBAS_MODE: SBAS Mode
+## COMPASS_CUS_PIT: Custom orientation pitch offset
 
 *Note: This parameter is for advanced users*
 
-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.
+Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-|2|NoChange|
+- Range: -180 180
 
-## GPS_MIN_ELEV: Minimum elevation
+- Units: deg
+
+- Increment: 1
+
+- RebootRequired: True
+
+## COMPASS_CUS_YAW: Custom orientation yaw offset
 
 *Note: This parameter is for advanced users*
 
-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.
+Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
 
-- Range: -100 90
+- Range: -180 180
 
 - Units: deg
 
-## GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets
+- Increment: 1
+
+- RebootRequired: True
+
+# COMPASSPMOT Parameters
+
+## COMPASS_PMOT_EN: per-motor compass correction enable
 
 *Note: This parameter is for advanced users*
 
-The GGS can send raw serial packets to inject data to multiple GPSes.
+This enables per-motor compass corrections
 
 |Value|Meaning|
 |:---:|:---:|
-|0|send to first GPS|
-|1|send to 2nd GPS|
-|127|send to all|
+|0|Disabled|
+|1|Enabled|
 
-## GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask
+## COMPASS_PMOT_EXP: per-motor exponential correction
 
 *Note: This parameter is for advanced users*
 
-Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
+This is the exponential correction for the power output of the motor for per-motor compass correction
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None (0x0000)|
-|-1|All (0xFFFF)|
-|-256|External only (0xFF00)|
+- Range: 0 2
 
-## GPS_RAW_DATA: Raw data logging
+- Increment: 0.01
+
+## COMPASS_PMOT1_X: Compass per-motor1 X
 
 *Note: This parameter is for advanced users*
 
-Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
+Compensation for X axis of motor1
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Ignore|
-|1|Always log|
-|2|Stop logging when disarmed (SBF only)|
-|5|Only log every five samples (uBlox only)|
+## COMPASS_PMOT1_Y: Compass per-motor1 Y
 
-- RebootRequired: True
+*Note: This parameter is for advanced users*
 
-## GPS_GNSS_MODE: GNSS system configuration
+Compensation for Y axis of motor1
 
-*Note: This parameter is for advanced users*
+## COMPASS_PMOT1_Z: Compass per-motor1 Z
 
-Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
+*Note: This parameter is for advanced users*
 
-- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS
+Compensation for Z axis of motor1
 
-## GPS_SAVE_CFG: Save GPS configuration
+## COMPASS_PMOT2_X: Compass per-motor2 X
 
 *Note: This parameter is for advanced users*
 
-Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
+Compensation for X axis of motor2
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Do not save config|
-|1|Save config|
-|2|Save only when needed|
+## COMPASS_PMOT2_Y: Compass per-motor2 Y
 
-## GPS_GNSS_MODE2: GNSS system configuration
+*Note: This parameter is for advanced users*
+
+Compensation for Y axis of motor2
+
+## COMPASS_PMOT2_Z: Compass per-motor2 Z
 
 *Note: This parameter is for advanced users*
 
-Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)
+Compensation for Z axis of motor2
 
-- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS
+## COMPASS_PMOT3_X: Compass per-motor3 X
 
-## GPS_AUTO_CONFIG: Automatic GPS configuration
+*Note: This parameter is for advanced users*
+
+Compensation for X axis of motor3
+
+## COMPASS_PMOT3_Y: Compass per-motor3 Y
 
 *Note: This parameter is for advanced users*
 
-Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
+Compensation for Y axis of motor3
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disables automatic configuration|
-|1|Enable automatic configuration|
+## COMPASS_PMOT3_Z: Compass per-motor3 Z
 
-## GPS_RATE_MS: GPS update rate in milliseconds
+*Note: This parameter is for advanced users*
+
+Compensation for Z axis of motor3
+
+## COMPASS_PMOT4_X: Compass per-motor4 X
 
 *Note: This parameter is for advanced users*
 
-Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
+Compensation for X axis of motor4
 
-- Units: ms
+## COMPASS_PMOT4_Y: Compass per-motor4 Y
 
-|Value|Meaning|
-|:---:|:---:|
-|100|10Hz|
-|125|8Hz|
-|200|5Hz|
+*Note: This parameter is for advanced users*
 
-- Range: 50 200
+Compensation for Y axis of motor4
 
-## GPS_RATE_MS2: GPS 2 update rate in milliseconds
+## COMPASS_PMOT4_Z: Compass per-motor4 Z
 
 *Note: This parameter is for advanced users*
 
-Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
+Compensation for Z axis of motor4
 
-- Units: ms
+# EAHRS Parameters
+
+## EAHRS_TYPE: AHRS type
+
+Type of AHRS device
 
 |Value|Meaning|
 |:---:|:---:|
-|100|10Hz|
-|125|8Hz|
-|200|5Hz|
+|0|None|
+|1|VectorNav|
 
-- Range: 50 200
+## EAHRS_RATE: AHRS data rate
 
-## GPS_POS1_X: Antenna X position offset
+Requested rate for AHRS device
 
-*Note: This parameter is for advanced users*
+- Units: Hz
 
-X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
+# EK2 Parameters
 
-- Units: m
+## EK2_ENABLE: Enable EKF2
 
-- Range: -5 5
+*Note: This parameter is for advanced users*
 
-- Increment: 0.01
+This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.
 
-## GPS_POS1_Y: Antenna Y position offset
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-*Note: This parameter is for advanced users*
+- RebootRequired: True
 
-Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
+## EK2_GPS_TYPE: GPS mode control
 
-- Units: m
+*Note: This parameter is for advanced users*
 
-- Range: -5 5
+This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.
 
-- Increment: 0.01
+|Value|Meaning|
+|:---:|:---:|
+|0|GPS 3D Vel and 2D Pos|
+|1|GPS 2D vel and 2D pos|
+|2|GPS 2D pos|
+|3|No GPS|
 
-## GPS_POS1_Z: Antenna Z position offset
+## EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
 
 *Note: This parameter is for advanced users*
 
-Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
+This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
 
-- Units: m
+- Range: 0.05 5.0
 
-- Range: -5 5
+- Increment: 0.05
 
-- Increment: 0.01
+- Units: m/s
 
-## GPS_POS2_X: Antenna X position offset
+## EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
 
 *Note: This parameter is for advanced users*
 
-X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
+This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
 
-- Units: m
+- Range: 0.05 5.0
 
-- Range: -5 5
+- Increment: 0.05
 
-- Increment: 0.01
+- Units: m/s
 
-## GPS_POS2_Y: Antenna Y position offset
+## EK2_VEL_I_GATE: GPS velocity innovation gate size
 
 *Note: This parameter is for advanced users*
 
-Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
-
-- Units: m
+This sets the percentage 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.
 
-- Range: -5 5
+- Range: 100 1000
 
-- Increment: 0.01
+- Increment: 25
 
-## GPS_POS2_Z: Antenna Z position offset
+## EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)
 
 *Note: This parameter is for advanced users*
 
-Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
+This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
 
-- Units: m
+- Range: 0.1 10.0
 
-- Range: -5 5
+- Increment: 0.1
 
-- Increment: 0.01
+- Units: m
 
-## GPS_DELAY_MS: GPS delay in milliseconds
+## EK2_POS_I_GATE: GPS position measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
-
-- Units: ms
+This sets the percentage 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.
 
-- Range: 0 250
+- Range: 100 1000
 
-- RebootRequired: True
+- Increment: 25
 
-## GPS_DELAY_MS2: GPS 2 delay in milliseconds
+## EK2_GLITCH_RAD: GPS glitch radius gate size (m)
 
 *Note: This parameter is for advanced users*
 
-Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
+This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
 
-- Units: ms
+- Range: 10 100
 
-- Range: 0 250
+- Increment: 5
 
-- RebootRequired: True
+- Units: m
 
-## GPS_BLEND_MASK: Multi GPS Blending Mask
+## EK2_ALT_SOURCE: Primary altitude sensor source
 
 *Note: This parameter is for advanced users*
 
-Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
+Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).
 
-- Bitmask: 0:Horiz Pos,1:Vert Pos,2:Speed
+|Value|Meaning|
+|:---:|:---:|
+|0|Use Baro|
+|1|Use Range Finder|
+|2|Use GPS|
+|3|Use Range Beacon|
 
-## GPS_BLEND_TC: Blending time constant
+- RebootRequired: True
+
+## EK2_ALT_M_NSE: Altitude measurement noise (m)
 
 *Note: This parameter is for advanced users*
 
-Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.
+This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
 
-- Units: s
+- Range: 0.1 10.0
 
-- Range: 5.0 30.0
+- Increment: 0.1
 
-## GPS_DRV_OPTIONS: driver options
+- Units: m
+
+## EK2_HGT_I_GATE: Height measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Additional backend specific options
+This sets the percentage 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.
 
-- Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200
+- Range: 100 1000
 
-## GPS_COM_PORT: GPS physical COM port
+- Increment: 25
+
+## EK2_HGT_DELAY: Height measurement delay (msec)
 
 *Note: This parameter is for advanced users*
 
-The physical COM port on the connected device, currently only applies to SBF GPS
+This is the number of msec that the Height measurements lag behind the inertial measurements.
 
-- Range: 0 10
+- Range: 0 250
 
-- Increment: 1
+- Increment: 10
+
+- Units: ms
 
 - RebootRequired: True
 
-## GPS_COM_PORT2: GPS physical COM port
+## EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)
 
 *Note: This parameter is for advanced users*
 
-The physical COM port on the connected device, currently only applies to SBF GPS
+This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
 
-- Range: 0 10
+- Range: 0.01 0.5
 
-- Increment: 1
+- Increment: 0.01
 
-- RebootRequired: True
+- Units: Gauss
 
-## GPS_PRIMARY: Primary GPS
+## EK2_MAG_CAL: Magnetometer default fusion mode
 
 *Note: This parameter is for advanced users*
 
-This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
-
-- Increment: 1
+This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|FirstGPS|
-|1|SecondGPS|
+|0|When flying|
+|1|When manoeuvring|
+|2|Never|
+|3|After first climb yaw reset|
+|4|Always|
 
-## GPS_CAN_NODEID1: GPS Node ID 1
+## EK2_MAG_I_GATE: Magnetometer measurement gate size
 
 *Note: This parameter is for advanced users*
 
-GPS Node id for discovered first.
+This sets the percentage 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.
 
-- ReadOnly: True
+- Range: 100 1000
 
-## GPS_CAN_NODEID2: GPS Node ID 2
+- Increment: 25
+
+## EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
 
 *Note: This parameter is for advanced users*
 
-GPS Node id for discovered second.
+This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
 
-- ReadOnly: True
+- Range: 0.5 5.0
 
-## GPS1_CAN_OVRIDE: First UAVCAN GPS NODE ID
+- Increment: 0.1
+
+- Units: m/s
+
+## EK2_EAS_I_GATE: Airspeed measurement gate size
 
 *Note: This parameter is for advanced users*
 
-GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis.
+This sets the percentage 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.
 
-## GPS2_CAN_OVRIDE: Second UAVCAN GPS NODE ID
+- Range: 100 1000
+
+- Increment: 25
+
+## EK2_RNG_M_NSE: Range finder measurement noise (m)
 
 *Note: This parameter is for advanced users*
 
-GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis.
+This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
 
-# GPSMB1 Parameters
+- Range: 0.1 10.0
 
-## GPS_MB1_TYPE: Moving base type
+- Increment: 0.1
+
+- Units: m
+
+## EK2_RNG_I_GATE: Range finder measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Controls the type of moving base used if using moving base.
+This sets the percentage 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.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Relative to alternate GPS instance|
-|1|RelativeToCustomBase|
+- Range: 100 1000
 
-- RebootRequired: True
+- Increment: 25
 
-## GPS_MB1_OFS_X: Base antenna X position offset
+## EK2_MAX_FLOW: Maximum valid optical flow rate
 
 *Note: This parameter is for advanced users*
 
-X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
+This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
 
-- Units: m
+- Range: 1.0 4.0
 
-- Range: -5 5
+- Increment: 0.1
 
-- Increment: 0.01
+- Units: rad/s
 
-## GPS_MB1_OFS_Y: Base antenna Y position offset    
+## EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)
 
 *Note: This parameter is for advanced users*
 
-Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
+This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
 
-- Units: m
+- Range: 0.05 1.0
 
-- Range: -5 5
+- Increment: 0.05
 
-- Increment: 0.01
+- Units: rad/s
 
-## GPS_MB1_OFS_Z: Base antenna Z position offset
+## EK2_FLOW_I_GATE: Optical Flow measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
+This sets the percentage 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.
 
-- Units: m
+- Range: 100 1000
 
-- Range: -5 5
+- Increment: 25
 
-- Increment: 0.01
+## EK2_FLOW_DELAY: Optical Flow measurement delay (msec)
 
-# GPSMB2 Parameters
+*Note: This parameter is for advanced users*
 
-## GPS_MB2_TYPE: Moving base type
+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.
 
-*Note: This parameter is for advanced users*
+- Range: 0 127
 
-Controls the type of moving base used if using moving base.
+- Increment: 10
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Relative to alternate GPS instance|
-|1|RelativeToCustomBase|
+- Units: ms
 
 - RebootRequired: True
 
-## GPS_MB2_OFS_X: Base antenna X position offset
+## EK2_GYRO_P_NSE: Rate gyro noise (rad/s)
 
 *Note: This parameter is for advanced users*
 
-X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
+This control disturbance 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.
 
-- Units: m
+- Range: 0.0001 0.1
 
-- Range: -5 5
+- Increment: 0.0001
 
-- Increment: 0.01
+- Units: rad/s
 
-## GPS_MB2_OFS_Y: Base antenna Y position offset    
+## EK2_ACC_P_NSE: Accelerometer noise (m/s^2)
 
 *Note: This parameter is for advanced users*
 
-Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
-
-- Units: m
+This control disturbance 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.
 
-- Range: -5 5
+- Range: 0.01 1.0
 
 - Increment: 0.01
 
-## GPS_MB2_OFS_Z: Base antenna Z position offset
+- Units: m/s/s
+
+## EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
 
 *Note: This parameter is for advanced users*
 
-Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
+This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
 
-- Units: m
+- Range: 0.00001 0.001
 
-- Range: -5 5
+- Units: rad/s/s
 
-- Increment: 0.01
+## EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)
 
-# GRIP Parameters
+*Note: This parameter is for advanced users*
 
-## GRIP_ENABLE: Gripper Enable/Disable
+This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.
 
-Gripper enable/disable
+- Range: 0.000001 0.001
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Units: Hz
 
-## GRIP_TYPE: Gripper Type
+## EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
+
+*Note: This parameter is for advanced users*
+
+This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
+
+- Range: 0.00001 0.005
+
+- Units: m/s/s/s
+
+## EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)
+
+*Note: This parameter is for advanced users*
+
+This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
+
+- Range: 0.01 1.0
 
-Gripper enable/disable
+- Increment: 0.1
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Servo|
-|2|EPM|
+- Units: m/s/s
 
-## GRIP_GRAB: Gripper Grab PWM
+## EK2_WIND_PSCALE: Height rate to wind process noise scaler
 
 *Note: This parameter is for advanced users*
 
-PWM value in microseconds sent to Gripper to initiate grabbing the cargo
+This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
 
-- Range: 1000 2000
+- Range: 0.0 1.0
 
-- Units: PWM
+- Increment: 0.1
 
-## GRIP_RELEASE: Gripper Release PWM
+## EK2_GPS_CHECK: GPS preflight check
 
 *Note: This parameter is for advanced users*
 
-PWM value in microseconds sent to Gripper to release the cargo
-
-- Range: 1000 2000
+This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
 
-- Units: PWM
+- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed
 
-## GRIP_NEUTRAL: Neutral PWM
+## EK2_IMU_MASK: Bitmask of active IMUs
 
 *Note: This parameter is for advanced users*
 
-PWM value in microseconds sent to grabber when not grabbing or releasing
+1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.
 
-- Range: 1000 2000
+- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
 
-- Units: PWM
+- RebootRequired: True
 
-## GRIP_REGRAB: Gripper Regrab interval
+## EK2_CHECK_SCALE: GPS accuracy check scaler (%)
 
 *Note: This parameter is for advanced users*
 
-Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable
+This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
 
-- Range: 0 255
+- Range: 50 200
 
-- Units: s
+- Units: %
 
-## GRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID
+## EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
 
-Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface
+*Note: This parameter is for advanced users*
 
-- Range: 0 255
+This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
 
-# INS Parameters
+- Range: 0.5 50.0
 
-## INS_GYROFFS_X: Gyro offsets of X axis
+- Units: m
+
+## EK2_YAW_M_NSE: Yaw measurement noise (rad)
 
 *Note: This parameter is for advanced users*
 
-Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
+This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
 
-- Units: rad/s
+- Range: 0.05 1.0
 
-- Calibration: 1
+- Increment: 0.05
 
-## INS_GYROFFS_Y: Gyro offsets of Y axis
+- Units: rad
+
+## EK2_YAW_I_GATE: Yaw measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
+This sets the percentage number of standard deviations applied to the magnetometer yaw 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.
 
-- Units: rad/s
+- Range: 100 1000
 
-- Calibration: 1
+- Increment: 25
 
-## INS_GYROFFS_Z: Gyro offsets of Z axis
+## EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
 
 *Note: This parameter is for advanced users*
 
-Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
+Sets the time constant of the output complementary filter/predictor in centi-seconds.
 
-- Units: rad/s
+- Range: 10 50
 
-- Calibration: 1
+- Increment: 5
 
-## INS_GYR2OFFS_X: Gyro2 offsets of X axis
+- Units: cs
+
+## EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
 
 *Note: This parameter is for advanced users*
 
-Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
+This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
 
-- Units: rad/s
+- Range: 0.00001 0.01
 
-- Calibration: 1
+- Units: Gauss/s
 
-## INS_GYR2OFFS_Y: Gyro2 offsets of Y axis
+## EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
 
 *Note: This parameter is for advanced users*
 
-Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
+This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
 
-- Units: rad/s
+- Range: 0.00001 0.01
 
-- Calibration: 1
+- Units: Gauss/s
 
-## INS_GYR2OFFS_Z: Gyro2 offsets of Z axis
+## EK2_RNG_USE_HGT: Range finder switch height percentage
 
 *Note: This parameter is for advanced users*
 
-Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
+Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
 
-- Units: rad/s
+- Range: -1 70
 
-- Calibration: 1
+- Increment: 1
 
-## INS_GYR3OFFS_X: Gyro3 offsets of X axis
+- Units: %
+
+## EK2_TERR_GRAD: Maximum terrain gradient
 
 *Note: This parameter is for advanced users*
 
-Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
+Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.
 
-- Units: rad/s
+- Range: 0 0.2
 
-- Calibration: 1
+- Increment: 0.01
 
-## INS_GYR3OFFS_Y: Gyro3 offsets of Y axis
+## EK2_BCN_M_NSE: Range beacon measurement noise (m)
 
 *Note: This parameter is for advanced users*
 
-Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
+This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
 
-- Units: rad/s
+- Range: 0.1 10.0
 
-- Calibration: 1
+- Increment: 0.1
 
-## INS_GYR3OFFS_Z: Gyro3 offsets of Z axis
+- Units: m
+
+## EK2_BCN_I_GTE: Range beacon measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
+This sets the percentage number of standard deviations applied to the range beacon 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.
 
-- Units: rad/s
+- Range: 100 1000
 
-- Calibration: 1
+- Increment: 25
 
-## INS_ACCSCAL_X: Accelerometer scaling of X axis
+## EK2_BCN_DELAY: Range beacon measurement delay (msec)
 
 *Note: This parameter is for advanced users*
 
-Accelerometer scaling of X axis.  Calculated during acceleration calibration routine
+This is the number of msec that the range beacon 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.
 
-- Range: 0.8 1.2
+- Range: 0 127
 
-- Calibration: 1
+- Increment: 10
 
-## INS_ACCSCAL_Y: Accelerometer scaling of Y axis
+- Units: ms
+
+- RebootRequired: True
+
+## EK2_RNG_USE_SPD: Range finder max ground speed
 
 *Note: This parameter is for advanced users*
 
-Accelerometer scaling of Y axis  Calculated during acceleration calibration routine
+The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
 
-- Range: 0.8 1.2
+- Range: 2.0 6.0
 
-- Calibration: 1
+- Increment: 0.5
 
-## INS_ACCSCAL_Z: Accelerometer scaling of Z axis
+- Units: m/s
+
+## EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
 
 *Note: This parameter is for advanced users*
 
-Accelerometer scaling of Z axis  Calculated during acceleration calibration routine
+1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
 
-- Range: 0.8 1.2
+- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
 
-- Calibration: 1
+- RebootRequired: True
 
-## INS_ACCOFFS_X: Accelerometer offsets of X axis
+## EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction
 
 *Note: This parameter is for advanced users*
 
-Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
-
-- Units: m/s/s
+When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
 
-- Range: -3.5 3.5
+- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position
 
-- Calibration: 1
+- RebootRequired: True
 
-## INS_ACCOFFS_Y: Accelerometer offsets of Y axis
+## EK2_FLOW_USE: Optical flow use bitmask
 
 *Note: This parameter is for advanced users*
 
-Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
-
-- Units: m/s/s
+Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
 
-- Range: -3.5 3.5
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|Navigation|
+|2|Terrain|
 
-- Calibration: 1
+- RebootRequired: True
 
-## INS_ACCOFFS_Z: Accelerometer offsets of Z axis
+## EK2_MAG_EF_LIM: EarthField error limit
 
 *Note: This parameter is for advanced users*
 
-Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
-
-- Units: m/s/s
+This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
 
-- Range: -3.5 3.5
+- Range: 0 500
 
-- Calibration: 1
+- Units: mGauss
 
-## INS_ACC2SCAL_X: Accelerometer2 scaling of X axis
+## EK2_HRT_FILT: Height rate filter crossover frequency
 
-*Note: This parameter is for advanced users*
+Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
 
-Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine
+- Range: 0.1 30.0
 
-- Range: 0.8 1.2
+- Units: Hz
 
-- Calibration: 1
+- RebootRequired: False
 
-## INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis
+## EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
 
 *Note: This parameter is for advanced users*
 
-Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine
+1 byte bitmap of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE, EK2_GSF_DELAY and EK2_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE to 0. 
 
-- Range: 0.8 1.2
+- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
 
-- Calibration: 1
+- RebootRequired: True
 
-## INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis
+## EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
 
 *Note: This parameter is for advanced users*
 
-Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine
+1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. Additionally the EKF2 will  initiate a reset internally if navigation is lost for more than EK2_GSF_DELAY milli seconds.
 
-- Range: 0.8 1.2
+- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
 
-- Calibration: 1
+- RebootRequired: True
 
-## INS_ACC2OFFS_X: Accelerometer2 offsets of X axis
+## EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed
 
 *Note: This parameter is for advanced users*
 
-Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations
+Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.
 
-- Units: m/s/s
+- Range: 1 10
 
-- Range: -3.5 3.5
+- Increment: 1
 
-- Calibration: 1
+- RebootRequired: True
 
-## INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis
+# EK3 Parameters
 
-*Note: This parameter is for advanced users*
+## EK3_ENABLE: Enable EKF3
 
-Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations
+*Note: This parameter is for advanced users*
 
-- Units: m/s/s
+This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.
 
-- Range: -3.5 3.5
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-- Calibration: 1
+- RebootRequired: True
 
-## INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis
+## EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
 
 *Note: This parameter is for advanced users*
 
-Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations
+This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
 
-- Units: m/s/s
+- Range: 0.05 5.0
 
-- Range: -3.5 3.5
+- Increment: 0.05
 
-- Calibration: 1
+- Units: m/s
 
-## INS_ACC3SCAL_X: Accelerometer3 scaling of X axis
+## EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
 
 *Note: This parameter is for advanced users*
 
-Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine
+This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
 
-- Range: 0.8 1.2
+- Range: 0.05 5.0
 
-- Calibration: 1
+- Increment: 0.05
 
-## INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis
+- Units: m/s
+
+## EK3_VEL_I_GATE: GPS velocity innovation gate size
 
 *Note: This parameter is for advanced users*
 
-Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine
+This sets the percentage 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.
 
-- Range: 0.8 1.2
+- Range: 100 1000
 
-- Calibration: 1
+- Increment: 25
 
-## INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis
+## EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)
 
 *Note: This parameter is for advanced users*
 
-Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine
+This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
 
-- Range: 0.8 1.2
+- Range: 0.1 10.0
 
-- Calibration: 1
+- Increment: 0.1
 
-## INS_ACC3OFFS_X: Accelerometer3 offsets of X axis
+- Units: m
 
-*Note: This parameter is for advanced users*
+## EK3_POS_I_GATE: GPS position measurement gate size
 
-Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations
+*Note: This parameter is for advanced users*
 
-- Units: m/s/s
+This sets the percentage 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.
 
-- Range: -3.5 3.5
+- Range: 100 1000
 
-- Calibration: 1
+- Increment: 25
 
-## INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis
+## EK3_GLITCH_RAD: GPS glitch radius gate size (m)
 
 *Note: This parameter is for advanced users*
 
-Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations
+This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
 
-- Units: m/s/s
+- Range: 10 100
 
-- Range: -3.5 3.5
+- Increment: 5
 
-- Calibration: 1
+- Units: m
 
-## INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis
+## EK3_ALT_M_NSE: Altitude measurement noise (m)
 
 *Note: This parameter is for advanced users*
 
-Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations
+This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
 
-- Units: m/s/s
+- Range: 0.1 10.0
 
-- Range: -3.5 3.5
+- Increment: 0.1
 
-- Calibration: 1
+- Units: m
 
-## INS_GYRO_FILTER: Gyro filter cutoff frequency
+## EK3_HGT_I_GATE: Height measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
+This sets the percentage 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.
 
-- Units: Hz
+- Range: 100 1000
 
-- Range: 0 256
+- Increment: 25
 
-## INS_ACCEL_FILTER: Accel filter cutoff frequency
+## EK3_HGT_DELAY: Height measurement delay (msec)
 
 *Note: This parameter is for advanced users*
 
-Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
+This is the number of msec that the Height measurements lag behind the inertial measurements.
 
-- Units: Hz
+- Range: 0 250
 
-- Range: 0 256
+- Increment: 10
 
-## INS_USE: Use first IMU for attitude, velocity and position estimates
+- RebootRequired: True
 
-*Note: This parameter is for advanced users*
+- Units: ms
 
-Use first IMU for attitude, velocity and position estimates
+## EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+*Note: This parameter is for advanced users*
 
-## INS_USE2: Use second IMU for attitude, velocity and position estimates
+This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
 
-*Note: This parameter is for advanced users*
+- Range: 0.01 0.5
 
-Use second IMU for attitude, velocity and position estimates
+- Increment: 0.01
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Units: Gauss
 
-## INS_USE3: Use third IMU for attitude, velocity and position estimates
+## EK3_MAG_CAL: Magnetometer default fusion mode
 
 *Note: This parameter is for advanced users*
 
-Use third IMU for attitude, velocity and position estimates
+This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+|0|When flying|
+|1|When manoeuvring|
+|2|Never|
+|3|After first climb yaw reset|
+|4|Always|
+|5|Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)|
+|6|External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)|
 
-## INS_STILL_THRESH: Stillness threshold for detecting if we are moving
+- RebootRequired: True
+
+## EK3_MAG_I_GATE: Magnetometer measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
+This sets the percentage 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.
 
-- Range: 0.05 50
+- Range: 100 1000
 
-## INS_GYR_CAL: Gyro Calibration scheme
+- Increment: 25
+
+## EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
 
 *Note: This parameter is for advanced users*
 
-Conrols when automatic gyro calibration is performed
+This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Never|
-|1|Start-up only|
+- Range: 0.5 5.0
 
-## INS_TRIM_OPTION: Accel cal trim option
+- Increment: 0.1
+
+- Units: m/s
+
+## EK3_EAS_I_GATE: Airspeed measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Specifies how the accel cal routine determines the trims
+This sets the percentage 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.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Don't adjust the trims|
-|1|Assume first orientation was level|
-|2|Assume ACC_BODYFIX is perfectly aligned to the vehicle|
+- Range: 100 1000
 
-## INS_ACC_BODYFIX: Body-fixed accelerometer
+- Increment: 25
+
+## EK3_RNG_M_NSE: Range finder measurement noise (m)
 
 *Note: This parameter is for advanced users*
 
-The body-fixed accelerometer to be used for trim calculation
+This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
 
-|Value|Meaning|
-|:---:|:---:|
-|1|IMU 1|
-|2|IMU 2|
-|3|IMU 3|
+- Range: 0.1 10.0
 
-## INS_POS1_X: IMU accelerometer X position
+- Increment: 0.1
 
-*Note: This parameter is for advanced users*
+- Units: m
 
-X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
+## EK3_RNG_I_GATE: Range finder measurement gate size
 
-- Units: m
+*Note: This parameter is for advanced users*
 
-- Range: -5 5
+This sets the percentage 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.
 
-- Increment: 0.01
+- Range: 100 1000
 
-## INS_POS1_Y: IMU accelerometer Y position
+- Increment: 25
+
+## EK3_MAX_FLOW: Maximum valid optical flow rate
 
 *Note: This parameter is for advanced users*
 
-Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
+This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
 
-- Units: m
+- Range: 1.0 4.0
 
-- Range: -5 5
+- Increment: 0.1
 
-- Increment: 0.01
+- Units: rad/s
 
-## INS_POS1_Z: IMU accelerometer Z position
+## EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)
 
 *Note: This parameter is for advanced users*
 
-Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
+This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
 
-- Units: m
+- Range: 0.05 1.0
 
-- Range: -5 5
+- Increment: 0.05
 
-- Increment: 0.01
+- Units: rad/s
 
-## INS_POS2_X: IMU accelerometer X position
+## EK3_FLOW_I_GATE: Optical Flow measurement gate size
 
 *Note: This parameter is for advanced users*
 
-X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
-
-- Units: m
+This sets the percentage 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.
 
-- Range: -5 5
+- Range: 100 1000
 
-- Increment: 0.01
+- Increment: 25
 
-## INS_POS2_Y: IMU accelerometer Y position
+## EK3_FLOW_DELAY: Optical Flow measurement delay (msec)
 
 *Note: This parameter is for advanced users*
 
-Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
+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.
 
-- Units: m
+- Range: 0 250
 
-- Range: -5 5
+- Increment: 10
 
-- Increment: 0.01
+- RebootRequired: True
 
-## INS_POS2_Z: IMU accelerometer Z position
+- Units: ms
+
+## EK3_GYRO_P_NSE: Rate gyro noise (rad/s)
 
 *Note: This parameter is for advanced users*
 
-Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
+This control disturbance 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.
 
-- Units: m
+- Range: 0.0001 0.1
 
-- Range: -5 5
+- Increment: 0.0001
 
-- Increment: 0.01
+- Units: rad/s
 
-## INS_POS3_X: IMU accelerometer X position
+## EK3_ACC_P_NSE: Accelerometer noise (m/s^2)
 
 *Note: This parameter is for advanced users*
 
-X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
+This control disturbance 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.
 
-- Units: m
+- Range: 0.01 1.0
 
-- Range: -10 10
+- Increment: 0.01
 
-## INS_POS3_Y: IMU accelerometer Y position
+- Units: m/s/s
 
-*Note: This parameter is for advanced users*
+## EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
 
-Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
+*Note: This parameter is for advanced users*
 
-- Units: m
+This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
 
-- Range: -5 5
+- Range: 0.00001 0.001
 
-- Increment: 0.01
+- Units: rad/s/s
 
-## INS_POS3_Z: IMU accelerometer Z position
+## EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
 
 *Note: This parameter is for advanced users*
 
-Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
-
-- Units: m
+This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
 
-- Range: -5 5
+- Range: 0.00001 0.005
 
-- Increment: 0.01
+- Units: m/s/s/s
 
-## INS_GYR_ID: Gyro ID
+## EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)
 
 *Note: This parameter is for advanced users*
 
-Gyro sensor ID, taking into account its type, bus and instance
+This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
+
+- Range: 0.01 2.0
+
+- Increment: 0.1
 
-- ReadOnly: True
+- Units: m/s/s
 
-## INS_GYR2_ID: Gyro2 ID
+## EK3_WIND_PSCALE: Height rate to wind process noise scaler
 
 *Note: This parameter is for advanced users*
 
-Gyro2 sensor ID, taking into account its type, bus and instance
+This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
 
-- ReadOnly: True
+- Range: 0.0 2.0
 
-## INS_GYR3_ID: Gyro3 ID
+- Increment: 0.1
+
+## EK3_GPS_CHECK: GPS preflight check
 
 *Note: This parameter is for advanced users*
 
-Gyro3 sensor ID, taking into account its type, bus and instance
+This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
 
-- ReadOnly: True
+- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed
 
-## INS_ACC_ID: Accelerometer ID
+## EK3_IMU_MASK: Bitmask of active IMUs
 
 *Note: This parameter is for advanced users*
 
-Accelerometer sensor ID, taking into account its type, bus and instance
+1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.
 
-- ReadOnly: True
+- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
 
-## INS_ACC2_ID: Accelerometer2 ID
+- RebootRequired: True
+
+## EK3_CHECK_SCALE: GPS accuracy check scaler (%)
 
 *Note: This parameter is for advanced users*
 
-Accelerometer2 sensor ID, taking into account its type, bus and instance
+This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
 
-- ReadOnly: True
+- Range: 50 200
 
-## INS_ACC3_ID: Accelerometer3 ID
+- Units: %
+
+## EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
 
 *Note: This parameter is for advanced users*
 
-Accelerometer3 sensor ID, taking into account its type, bus and instance
+This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
 
-- ReadOnly: True
+- Range: 0.5 50.0
 
-## INS_FAST_SAMPLE: Fast sampling mask
+- Units: m
+
+## EK3_BETA_MASK: Bitmask controlling sidelip angle fusion
 
 *Note: This parameter is for advanced users*
 
-Mask of IMUs to enable fast sampling on, if available
+1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected  whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.
 
-- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU
+- Bitmask: 0:Always,1:WhenNoYawSensor
 
-## INS_ENABLE_MASK: IMU enable mask
+- RebootRequired: True
+
+## EK3_YAW_M_NSE: Yaw measurement noise (rad)
 
 *Note: This parameter is for advanced users*
 
-Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
+This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
 
-- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU
+- Range: 0.05 1.0
 
-## INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled
+- Increment: 0.05
+
+- Units: rad
+
+## EK3_YAW_I_GATE: Yaw measurement gate size
 
 *Note: This parameter is for advanced users*
 
-Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
+This sets the percentage number of standard deviations applied to the magnetometer yaw 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.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|1kHz|
-|1|2kHz|
-|2|4kHz|
-|3|8kHz|
+- Range: 100 1000
 
-- RebootRequired: True
+- Increment: 25
 
-## INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer
+## EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
 
 *Note: This parameter is for advanced users*
 
-Temperature that the 1st accelerometer was calibrated at
+Sets the time constant of the output complementary filter/predictor in centi-seconds.
 
-- Units: degC
+- Range: 10 50
 
-- Calibration: 1
+- Increment: 5
 
-## INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope
+- Units: cs
+
+## EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
 
 *Note: This parameter is for advanced users*
 
-Temperature that the 1st gyroscope was calibrated at
+This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
 
-- Units: degC
+- Range: 0.00001 0.01
 
-- Calibration: 1
+- Units: Gauss/s
 
-## INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer
+## EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
 
 *Note: This parameter is for advanced users*
 
-Temperature that the 2nd accelerometer was calibrated at
+This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
 
-- Units: degC
+- Range: 0.00001 0.01
 
-- Calibration: 1
+- Units: Gauss/s
 
-## INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope
+## EK3_RNG_USE_HGT: Range finder switch height percentage
 
 *Note: This parameter is for advanced users*
 
-Temperature that the 2nd gyroscope was calibrated at
+Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
 
-- Units: degC
+- Range: -1 70
 
-- Calibration: 1
+- Increment: 1
 
-## INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer
+- Units: %
+
+## EK3_TERR_GRAD: Maximum terrain gradient
 
 *Note: This parameter is for advanced users*
 
-Temperature that the 3rd accelerometer was calibrated at
+Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference
 
-- Units: degC
+- Range: 0 0.2
 
-- Calibration: 1
+- Increment: 0.01
 
-## INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope
+## EK3_BCN_M_NSE: Range beacon measurement noise (m)
 
 *Note: This parameter is for advanced users*
 
-Temperature that the 3rd gyroscope was calibrated at
+This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
 
-- Units: degC
+- Range: 0.1 10.0
 
-- Calibration: 1
+- Increment: 0.1
 
-## INS_TCAL_OPTIONS: Options for temperature calibration
+- Units: m
+
+## EK3_BCN_I_GTE: Range beacon measurement gate size
 
 *Note: This parameter is for advanced users*
 
-This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.
+This sets the percentage number of standard deviations applied to the range beacon 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.
 
-- Bitmask: 0:PersistParams
+- Range: 100 1000
 
-# INSHNTCH Parameters
+- Increment: 25
 
-## INS_HNTCH_ENABLE: Harmonic Notch Filter enable
+## EK3_BCN_DELAY: Range beacon measurement delay (msec)
 
 *Note: This parameter is for advanced users*
 
-Harmonic Notch Filter enable
+This is the number of msec that the range beacon measurements lag behind the inertial measurements.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Range: 0 250
 
-## INS_HNTCH_FREQ: Harmonic Notch Filter base frequency
+- Increment: 10
+
+- RebootRequired: True
+
+- Units: ms
+
+## EK3_RNG_USE_SPD: Range finder max ground speed
 
 *Note: This parameter is for advanced users*
 
-Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter.  Recommend setting it to half the operating rotor speed in Hz.
+The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
 
-- Range: 10 495
+- Range: 2.0 6.0
 
-- Units: Hz
+- Increment: 0.5
 
-## INS_HNTCH_BW: Harmonic Notch Filter bandwidth
+- Units: m/s
+
+## EK3_ACC_BIAS_LIM: Accelerometer bias limit
 
 *Note: This parameter is for advanced users*
 
-Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
+The accelerometer bias state will be limited to +- this value
 
-- Range: 5 250
+- Range: 0.5 2.5
 
-- Units: Hz
+- Increment: 0.1
 
-## INS_HNTCH_ATT: Harmonic Notch Filter attenuation
+- Units: m/s/s
+
+## EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
 
 *Note: This parameter is for advanced users*
 
-Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
+1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
 
-- Range: 5 50
+- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
 
-- Units: dB
+- RebootRequired: True
 
-## INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics
+## EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction
 
 *Note: This parameter is for advanced users*
 
-Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.
+When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
 
-- Bitmask: 0:1st harmonic,1:2nd harmonic,2:3rd harmonic,3:4th hamronic,4:5th harmonic,5:6th harmonic,6:7th harmonic,7:8th harmonic
+- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position
 
 - RebootRequired: True
 
-## INS_HNTCH_REF: Harmonic Notch Filter reference value
+## EK3_VIS_VERR_MIN: Visual odometry minimum velocity error
 
 *Note: This parameter is for advanced users*
 
-A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter.  For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter.  This reference value may also be used to scale the sensor data, if required.  For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
+This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
 
-- Range: 0.0 1.0
+- Range: 0.05 0.5
 
-- RebootRequired: True
+- Increment: 0.05
 
-## INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode
+- Units: m/s
+
+## EK3_VIS_VERR_MAX: Visual odometry maximum velocity error
 
 *Note: This parameter is for advanced users*
 
-Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.
+This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
 
-- Range: 0 4
+- Range: 0.5 5.0
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Throttle|
-|2|RPM Sensor|
-|3|ESC Telemetry|
-|4|Dynamic FFT|
+- Increment: 0.1
 
-## INS_HNTCH_OPTS: Harmonic Notch Filter options
+- Units: m/s
+
+## EK3_WENC_VERR: Wheel odometry velocity error
 
 *Note: This parameter is for advanced users*
 
-Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz.
+This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.
 
-- Bitmask: 0:Double notch,1:Dynamic harmonic,2:Update at loop rate
+- Range: 0.01 1.0
 
-- RebootRequired: True
+- Increment: 0.1
 
-# INSLOG Parameters
+- Units: m/s
 
-## INS_LOG_BAT_CNT: sample count per batch
+## EK3_FLOW_USE: Optical flow use bitmask
 
 *Note: This parameter is for advanced users*
 
-Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32. This option takes effect on the next reboot.
+Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
 
-- Increment: 32
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|Navigation|
+|2|Terrain|
 
 - RebootRequired: True
 
-## INS_LOG_BAT_MASK: Sensor Bitmask
+## EK3_HRT_FILT: Height rate filter crossover frequency
 
-*Note: This parameter is for advanced users*
+Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
 
-Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.
+- Range: 0.1 30.0
 
-- Bitmask: 0:IMU1,1:IMU2,2:IMU3
+- Units: Hz
 
-- RebootRequired: True
+- RebootRequired: False
 
-## INS_LOG_BAT_OPT: Batch Logging Options Mask
+## EK3_MAG_EF_LIM: EarthField error limit
 
 *Note: This parameter is for advanced users*
 
-Options for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time.
+This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
 
-- Bitmask: 0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering
+- Range: 0 500
 
-## INS_LOG_BAT_LGIN: logging interval
+- Units: mGauss
 
-Interval between pushing samples to the AP_Logger log
+## EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
 
-- Units: ms
+*Note: This parameter is for advanced users*
+
+1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE, EK3_GSF_DELAY and EK3_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. 
+
+- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
+
+- RebootRequired: True
 
-- Increment: 10
+## EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
 
-## INS_LOG_BAT_LGCT: logging count
+*Note: This parameter is for advanced users*
 
-Number of samples to push to count every INS_LOG_BAT_LGIN
+1 byte bitmap of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. Additionally the EKF3 will  initiate a reset internally if navigation is lost for more than EK3_GSF_DELAY milli seconds.
 
-- Increment: 1
+- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
 
-# INSNOTCH Parameters
+- RebootRequired: True
 
-## INS_NOTCH_ENABLE: Enable
+## EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed
 
 *Note: This parameter is for advanced users*
 
-Enable notch filter
+Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Range: 1 10
 
-## INS_NOTCH_ATT: Attenuation
+- Increment: 1
+
+- RebootRequired: True
+
+## EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold
 
 *Note: This parameter is for advanced users*
 
-Notch attenuation in dB
+lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences
 
-- Range: 5 30
+- Range: 0.05 1
 
-- Units: dB
+- Increment: 0.05
 
-## INS_NOTCH_FREQ: Frequency
+## EK3_AFFINITY: EKF3 Sensor Affinity Options
 
 *Note: This parameter is for advanced users*
 
-Notch center frequency in Hz
+These options control the affinity between sensor instances and EKF cores
 
-- Range: 10 400
+- Bitmask: 0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity
 
-- Units: Hz
+- RebootRequired: True
 
-## INS_NOTCH_BW: Bandwidth
+## EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag
 
 *Note: This parameter is for advanced users*
 
-Notch bandwidth in Hz
-
-- Range: 5 100
+Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
 
-- Units: Hz
+- Range: 0.0 1000.0
 
-# INSTCAL1 Parameters
+- Units: kg/m/m
 
-## INS_TCAL1_ENABLE: Enable temperature calibration
+## EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag
 
 *Note: This parameter is for advanced users*
 
-Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
+Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-|2|LearnCalibration|
+- Range: 50.0 1000.0
 
-- RebootRequired: True
+- Units: kg/m/m
 
-## INS_TCAL1_TMIN: Temperature calibration min
+## EK3_DRAG_M_NSE: Observation noise for drag acceleration
 
 *Note: This parameter is for advanced users*
 
-The minimum temperature that the calibration is valid for
+This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters
 
-- Range: -70 80
+- Range: 0.1 2.0
 
-- Units: degC
+- Increment: 0.1
 
-- Calibration: 1
+- Units: m/s/s
 
-## INS_TCAL1_TMAX: Temperature calibration max
+## EK3_DRAG_MCOEF: Momentum coefficient for propeller drag
 
 *Note: This parameter is for advanced users*
 
-The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
+This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.
 
-- Range: -70 80
+- Range: 0.0 1.0
 
-- Units: degC
+- Increment: 0.01
 
-- Calibration: 1
+- Units: 1/s
 
-## INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis
+## EK3_OGNM_TEST_SF: On ground not moving test scale factor
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
+This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.
 
-- Calibration: 1
+- Range: 1.0 10.0
+
+- Increment: 0.5
 
-## INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
+## EK3_GND_EFF_DZ: Baro height ground effect dead zone
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
-
-- Calibration: 1
+This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. 
 
-## INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
+- Range: 0.0 10.0
 
-*Note: This parameter is for advanced users*
+- Increment: 0.5
 
-This is the 1st order temperature coefficient from a temperature calibration
+## EK3_PRIMARY: Primary core number
 
-- Calibration: 1
+*Note: This parameter is for advanced users*
 
-## INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
+The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.
 
-*Note: This parameter is for advanced users*
+- Range: 0 2
 
-This is the 2nd order temperature coefficient from a temperature calibration
+- Increment: 1
 
-- Calibration: 1
+# EK3SRC Parameters
 
-## INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
+## EK3_SRC1_POSXY: Position Horizontal Source (Primary)
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+Position Horizontal Source (Primary)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|3|GPS|
+|4|Beacon|
+|6|ExternalNav|
 
-## INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
+## EK3_SRC1_VELXY: Velocity Horizontal Source
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+Velocity Horizontal Source
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|3|GPS|
+|4|Beacon|
+|5|OpticalFlow|
+|6|ExternalNav|
+|7|WheelEncoder|
 
-## INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
+## EK3_SRC1_POSZ: Position Vertical Source
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Position Vertical Source
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|Baro|
+|2|RangeFinder|
+|3|GPS|
+|4|Beacon|
+|6|ExternalNav|
 
-## INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
+## EK3_SRC1_VELZ: Velocity Vertical Source
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Velocity Vertical Source
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|3|GPS|
+|4|Beacon|
+|6|ExternalNav|
 
-## INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
+## EK3_SRC1_YAW: Yaw Source
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Yaw Source
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|Compass|
+|2|GPS|
+|3|GPS with Compass Fallback|
+|6|ExternalNav|
+|8|GSF|
 
-## INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis
+## EK3_SRC2_POSXY: Position Horizontal Source (Secondary)
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
+Position Horizontal Source (Secondary)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|3|GPS|
+|4|Beacon|
+|6|ExternalNav|
 
-## INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
+## EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
+Velocity Horizontal Source (Secondary)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|3|GPS|
+|4|Beacon|
+|5|OpticalFlow|
+|6|ExternalNav|
+|7|WheelEncoder|
 
-## INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
+## EK3_SRC2_POSZ: Position Vertical Source (Secondary)
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
+Position Vertical Source (Secondary)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|Baro|
+|2|RangeFinder|
+|3|GPS|
+|4|Beacon|
+|6|ExternalNav|
 
-## INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
+## EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+Velocity Vertical Source (Secondary)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|3|GPS|
+|4|Beacon|
+|6|ExternalNav|
 
-## INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
+## EK3_SRC2_YAW: Yaw Source (Secondary)
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+Yaw Source (Secondary)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|Compass|
+|2|GPS|
+|3|GPS with Compass Fallback|
+|6|ExternalNav|
+|8|GSF|
 
-## INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
+## EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+Position Horizontal Source (Tertiary)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|3|GPS|
+|4|Beacon|
+|6|ExternalNav|
 
-## INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
+## EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Velocity Horizontal Source (Tertiary)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|3|GPS|
+|4|Beacon|
+|5|OpticalFlow|
+|6|ExternalNav|
+|7|WheelEncoder|
 
-## INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
+## EK3_SRC3_POSZ: Position Vertical Source (Tertiary)
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Position Vertical Source (Tertiary)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|Baro|
+|2|RangeFinder|
+|3|GPS|
+|4|Beacon|
+|6|ExternalNav|
 
-## INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
+## EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
-
-- Calibration: 1
+Velocity Vertical Source (Tertiary)
 
-# INSTCAL2 Parameters
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|3|GPS|
+|4|Beacon|
+|6|ExternalNav|
 
-## INS_TCAL2_ENABLE: Enable temperature calibration
+## EK3_SRC3_YAW: Yaw Source (Tertiary)
 
 *Note: This parameter is for advanced users*
 
-Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
+Yaw Source (Tertiary)
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-|2|LearnCalibration|
-
-- RebootRequired: True
+|0|None|
+|1|Compass|
+|2|GPS|
+|3|GPS with Compass Fallback|
+|6|ExternalNav|
+|8|GSF|
 
-## INS_TCAL2_TMIN: Temperature calibration min
+## EK3_SRC_OPTIONS: EKF Source Options
 
 *Note: This parameter is for advanced users*
 
-The minimum temperature that the calibration is valid for
+EKF Source Options
 
-- Range: -70 80
+- Bitmask: 0:FuseAllVelocities
 
-- Units: degC
+# FENCE Parameters
 
-- Calibration: 1
+## FENCE_ENABLE: Fence enable/disable
 
-## INS_TCAL2_TMAX: Temperature calibration max
+Allows you to enable (1) or disable (0) the fence functionality
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
+## FENCE_TYPE: Fence Type
 
-- Range: -70 80
+Enabled fence types held as bitmask
 
-- Units: degC
+- Bitmask: 0:Max altitude,1:Circle,2:Polygon,3:Min altitude
 
-- Calibration: 1
+## FENCE_ACTION: Fence Action
 
-## INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis
+What action should be taken when fence is breached
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|0|Report Only|
+|1|RTL or Land|
 
-This is the 1st order temperature coefficient from a temperature calibration
+## FENCE_ALT_MAX: Fence Maximum Altitude
 
-- Calibration: 1
+Maximum altitude allowed before geofence triggers
 
-## INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
+- Units: m
 
-*Note: This parameter is for advanced users*
+- Range: 10 1000
 
-This is the 1st order temperature coefficient from a temperature calibration
+- Increment: 1
 
-- Calibration: 1
+## FENCE_RADIUS: Circular Fence Radius
 
-## INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
+Circle fence radius which when breached will cause an RTL
 
-*Note: This parameter is for advanced users*
+- Units: m
 
-This is the 1st order temperature coefficient from a temperature calibration
+- Range: 30 10000
 
-- Calibration: 1
+## FENCE_MARGIN: Fence Margin
 
-## INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
+Distance that autopilot's should maintain from the fence to avoid a breach
 
-*Note: This parameter is for advanced users*
+- Units: m
 
-This is the 2nd order temperature coefficient from a temperature calibration
+- Range: 1 10
 
-- Calibration: 1
+## FENCE_TOTAL: Fence polygon point total
 
-## INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
+Number of polygon points saved in eeprom (do not update manually)
 
-*Note: This parameter is for advanced users*
+- Range: 1 20
 
-This is the 2nd order temperature coefficient from a temperature calibration
+## FENCE_ALT_MIN: Fence Minimum Altitude
 
-- Calibration: 1
+Minimum altitude allowed before geofence triggers
 
-## INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
+- Units: m
 
-*Note: This parameter is for advanced users*
+- Range: -100 100
 
-This is the 2nd order temperature coefficient from a temperature calibration
+- Increment: 1
 
-- Calibration: 1
+# FFT Parameters
 
-## INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
+## FFT_ENABLE: Enable
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Enable Gyro FFT analyser
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+- RebootRequired: True
 
-## INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
+## FFT_MINHZ: Minimum Frequency
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.
 
-- Calibration: 1
+- Range: 20 400
+
+- Units: Hz
 
-## INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
+## FFT_MAXHZ: Maximum Frequency
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.
 
-- Calibration: 1
+- Range: 20 495
+
+- Units: Hz
 
-## INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis
+## FFT_SAMPLE_MODE: Sample Mode
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
+Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.
 
-- Calibration: 1
+- Range: 0 4
 
-## INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
+- RebootRequired: True
+
+## FFT_WINDOW_SIZE: FFT window size
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
+Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.
 
-- Calibration: 1
+- Range: 32 1024
+
+- RebootRequired: True
 
-## INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
+## FFT_WINDOW_OLAP: FFT window overlap
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
+Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.
 
-- Calibration: 1
+- Range: 0 0.9
+
+- RebootRequired: True
 
-## INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
+## FFT_FREQ_HOVER: FFT learned hover frequency
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+The learned hover noise frequency
 
-- Calibration: 1
+- Range: 0 250
 
-## INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
+## FFT_THR_REF: FFT learned thrust reference
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+FFT learned thrust reference for the hover frequency and FFT minimum frequency.
 
-- Calibration: 1
+- Range: 0.01 0.9
 
-## INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
+## FFT_SNR_REF: FFT SNR reference threshold
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+FFT SNR reference threshold in dB at which a signal is determined to be present.
 
-- Calibration: 1
+- Range: 0.0 100.0
 
-## INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
+## FFT_ATT_REF: FFT attenuation for bandwidth calculation
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.
 
-- Calibration: 1
+- Range: 0 100
 
-## INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
+## FFT_BW_HOVER: FFT learned bandwidth at hover
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+FFT learned bandwidth at hover for the attenuation frequencies.
 
-- Calibration: 1
+- Range: 0 200
 
-## INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
+## FFT_HMNC_FIT: FFT harmonic fit frequency threshold
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.
 
-- Calibration: 1
+- Range: 0 100
 
-# INSTCAL3 Parameters
+- RebootRequired: True
 
-## INS_TCAL3_ENABLE: Enable temperature calibration
+## FFT_HMNC_PEAK: FFT harmonic peak target
 
 *Note: This parameter is for advanced users*
 
-Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
+The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-|2|LearnCalibration|
-
-- RebootRequired: True
-
-## INS_TCAL3_TMIN: Temperature calibration min
-
-*Note: This parameter is for advanced users*
+|0|Auto|
+|1|Center Frequency|
+|2|Lower-Shoulder Frequency|
+|3|Upper-Shoulder Frequency|
+|4|Roll-Axis|
+|5|Pitch-Axis|
 
-The minimum temperature that the calibration is valid for
+# FLOW Parameters
 
-- Range: -70 80
+## FLOW_TYPE: Optical flow sensor type
 
-- Units: degC
+Optical flow sensor type
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|PX4Flow|
+|2|Pixart|
+|3|Bebop|
+|4|CXOF|
+|5|MAVLink|
+|6|UAVCAN|
+|7|MSP|
+|8|UPFLOW|
 
-## INS_TCAL3_TMAX: Temperature calibration max
+- RebootRequired: True
 
-*Note: This parameter is for advanced users*
+## FLOW_FXSCALER: X axis optical flow scale factor correction
 
-The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
+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.
 
-- Range: -70 80
+- Range: -200 +200
 
-- Units: degC
+- Increment: 1
 
-- Calibration: 1
+## FLOW_FYSCALER: Y axis optical flow scale factor correction
 
-## INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis
+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.
 
-*Note: This parameter is for advanced users*
+- Range: -200 +200
 
-This is the 1st order temperature coefficient from a temperature calibration
+- Increment: 1
 
-- Calibration: 1
+## FLOW_ORIENT_YAW: Flow sensor yaw alignment
 
-## INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
+Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.
 
-*Note: This parameter is for advanced users*
+- Units: cdeg
 
-This is the 1st order temperature coefficient from a temperature calibration
+- Range: -17999 +18000
 
-- Calibration: 1
+- Increment: 10
 
-## INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
+## FLOW_POS_X:  X position offset
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
-
-- Calibration: 1
-
-## INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
+X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.
 
-*Note: This parameter is for advanced users*
+- Units: m
 
-This is the 2nd order temperature coefficient from a temperature calibration
+- Range: -5 5
 
-- Calibration: 1
+- Increment: 0.01
 
-## INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
+## FLOW_POS_Y: Y position offset
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.
 
-- Calibration: 1
+- Units: m
 
-## INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
+- Range: -5 5
 
-*Note: This parameter is for advanced users*
+- Increment: 0.01
 
-This is the 2nd order temperature coefficient from a temperature calibration
+## FLOW_POS_Z: Z position offset
 
-- Calibration: 1
+*Note: This parameter is for advanced users*
 
-## INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
+Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.
 
-*Note: This parameter is for advanced users*
+- Units: m
 
-This is the 3rd order temperature coefficient from a temperature calibration
+- Range: -5 5
 
-- Calibration: 1
+- Increment: 0.01
 
-## INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
+## FLOW_ADDR: Address on the bus
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.
 
-- Calibration: 1
+- Range: 0 127
+
+# FRSKY Parameters
 
-## INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
+## FRSKY_UPLINK_ID: Uplink sensor id
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Change the uplink sensor id (SPort only)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disable|
+|7|7|
+|8|8|
+|9|9|
+|10|10|
+|11|11|
+|12|12|
+|13|13|
+|14|14|
+|15|15|
+|16|16|
+|17|17|
+|18|18|
+|19|19|
+|20|20|
+|21|21|
+|22|22|
+|23|23|
+|24|24|
+|25|25|
+|26|26|
 
-## INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis
+## FRSKY_DNLINK1_ID: First downlink sensor id
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
+Change the first extra downlink sensor id (SPort only)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disable|
+|7|7|
+|8|8|
+|9|9|
+|10|10|
+|11|11|
+|12|12|
+|13|13|
+|14|14|
+|15|15|
+|16|16|
+|17|17|
+|18|18|
+|19|19|
+|20|20|
+|21|21|
+|22|22|
+|23|23|
+|24|24|
+|25|25|
+|26|26|
 
-## INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
+## FRSKY_DNLINK2_ID: Second downlink sensor id
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
+Change the second extra downlink sensor id (SPort only)
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disable|
+|7|7|
+|8|8|
+|9|9|
+|10|10|
+|11|11|
+|12|12|
+|13|13|
+|14|14|
+|15|15|
+|16|16|
+|17|17|
+|18|18|
+|19|19|
+|20|20|
+|21|21|
+|22|22|
+|23|23|
+|24|24|
+|25|25|
+|26|26|
 
-## INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
+## FRSKY_DNLINK_ID: Default downlink sensor id
 
 *Note: This parameter is for advanced users*
 
-This is the 1st order temperature coefficient from a temperature calibration
-
-- Calibration: 1
-
-## INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
+Change the default downlink sensor id (SPort only)
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disable|
+|7|7|
+|8|8|
+|9|9|
+|10|10|
+|11|11|
+|12|12|
+|13|13|
+|14|14|
+|15|15|
+|16|16|
+|17|17|
+|18|18|
+|19|19|
+|20|20|
+|21|21|
+|22|22|
+|23|23|
+|24|24|
+|25|25|
+|26|26|
+|27|27|
 
-This is the 2nd order temperature coefficient from a temperature calibration
+# GEN Parameters
 
-- Calibration: 1
+## GEN_TYPE: Generator type
 
-## INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
+Generator type
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|IE 650w 800w Fuel Cell|
+|2|IE 2.4kW Fuel Cell|
+|3|Richenpower|
 
-This is the 2nd order temperature coefficient from a temperature calibration
+- RebootRequired: True
 
-- Calibration: 1
+# GPS Parameters
 
-## INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
+## GPS_TYPE: 1st GPS type
 
 *Note: This parameter is for advanced users*
 
-This is the 2nd order temperature coefficient from a temperature calibration
+GPS type of 1st GPS
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|AUTO|
+|2|uBlox|
+|3|MTK|
+|4|MTK19|
+|5|NMEA|
+|6|SiRF|
+|7|HIL|
+|8|SwiftNav|
+|9|UAVCAN|
+|10|SBF|
+|11|GSOF|
+|13|ERB|
+|14|MAV|
+|15|NOVA|
+|16|HemisphereNMEA|
+|17|uBlox-MovingBaseline-Base|
+|18|uBlox-MovingBaseline-Rover|
+|19|MSP|
+|20|AllyStar|
+|21|ExternalAHRS|
 
-## INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
+- RebootRequired: True
+
+## GPS_TYPE2: 2nd GPS type
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+GPS type of 2nd GPS
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|AUTO|
+|2|uBlox|
+|3|MTK|
+|4|MTK19|
+|5|NMEA|
+|6|SiRF|
+|7|HIL|
+|8|SwiftNav|
+|9|UAVCAN|
+|10|SBF|
+|11|GSOF|
+|13|ERB|
+|14|MAV|
+|15|NOVA|
+|16|HemisphereNMEA|
+|17|uBlox-MovingBaseline-Base|
+|18|uBlox-MovingBaseline-Rover|
+|19|MSP|
+|20|AllyStar|
+|21|ExternalAHRS|
+
+- RebootRequired: True
 
-## INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
+## GPS_NAVFILTER: Navigation filter setting
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Navigation filter engine setting
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|Portable|
+|2|Stationary|
+|3|Pedestrian|
+|4|Automotive|
+|5|Sea|
+|6|Airborne1G|
+|7|Airborne2G|
+|8|Airborne4G|
 
-## INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
+## GPS_AUTO_SWITCH: Automatic Switchover Setting
 
 *Note: This parameter is for advanced users*
 
-This is the 3rd order temperature coefficient from a temperature calibration
+Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
 
-- Calibration: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|Use primary|
+|1|UseBest|
+|2|Blend|
+|4|Use primary if 3D fix or better|
 
-# LEAK Parameters
+## GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS
 
-## LEAK1_PIN: Pin that leak detector is connected to
+*Note: This parameter is for advanced users*
 
-Pin that the leak detector is connected to
+Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Disabled|
-|50|Pixhawk Aux1|
-|51|Pixhawk Aux2|
-|52|Pixhawk Aux3|
-|53|Pixhawk Aux4|
-|54|Pixhawk Aux5|
-|55|Pixhawk Aux6|
-|13|Pixhawk 3.3ADC1|
-|14|Pixhawk 3.3ADC2|
-|15|Pixhawk 6.6ADC|
-|27|Navigator Built-In|
+|0|Any|
+|50|FloatRTK|
+|100|IntegerRTK|
 
 - RebootRequired: True
 
-## LEAK1_LOGIC: Default reading of leak detector when dry
+## GPS_SBAS_MODE: SBAS Mode
 
-Default reading of leak detector when dry
+*Note: This parameter is for advanced users*
+
+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.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Low|
-|1|High|
+|0|Disabled|
+|1|Enabled|
+|2|NoChange|
 
-## LEAK2_PIN: Pin that leak detector is connected to
+## GPS_MIN_ELEV: Minimum elevation
 
-Pin that the leak detector is connected to
+*Note: This parameter is for advanced users*
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|50|Pixhawk Aux1|
-|51|Pixhawk Aux2|
-|52|Pixhawk Aux3|
-|53|Pixhawk Aux4|
-|54|Pixhawk Aux5|
-|55|Pixhawk Aux6|
-|13|Pixhawk 3.3ADC1|
-|14|Pixhawk 3.3ADC2|
-|15|Pixhawk 6.6ADC|
-|27|Navigator Leak1|
+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.
 
-- RebootRequired: True
+- Range: -100 90
 
-## LEAK2_LOGIC: Default reading of leak detector when dry
+- Units: deg
 
-Default reading of leak detector when dry
+## GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets
+
+*Note: This parameter is for advanced users*
+
+The GGS can send raw serial packets to inject data to multiple GPSes.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Low|
-|1|High|
+|0|send to first GPS|
+|1|send to 2nd GPS|
+|127|send to all|
 
-## LEAK3_PIN: Pin that leak detector is connected to
+## GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask
 
-Pin that the leak detector is connected to
+*Note: This parameter is for advanced users*
+
+Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Disabled|
-|50|Pixhawk Aux1|
-|51|Pixhawk Aux2|
-|52|Pixhawk Aux3|
-|53|Pixhawk Aux4|
-|54|Pixhawk Aux5|
-|55|Pixhawk Aux6|
-|13|Pixhawk 3.3ADC1|
-|14|Pixhawk 3.3ADC2|
-|15|Pixhawk 6.6ADC|
-|27|Navigator Leak1|
+|0|None (0x0000)|
+|-1|All (0xFFFF)|
+|-256|External only (0xFF00)|
 
-- RebootRequired: True
+## GPS_RAW_DATA: Raw data logging
 
-## LEAK3_LOGIC: Default reading of leak detector when dry
+*Note: This parameter is for advanced users*
 
-Default reading of leak detector when dry
+Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Low|
-|1|High|
+|0|Ignore|
+|1|Always log|
+|2|Stop logging when disarmed (SBF only)|
+|5|Only log every five samples (uBlox only)|
 
-# LOG Parameters
+- RebootRequired: True
 
-## LOG_BACKEND_TYPE: AP_Logger Backend Storage type
+## GPS_GNSS_MODE: GNSS system configuration
 
-Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.
+*Note: This parameter is for advanced users*
 
-- Bitmask: 0:File,1:MAVLink,2:Block
+Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
 
-## LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)
+- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS
 
-The File and Block backends use a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.
+## GPS_SAVE_CFG: Save GPS configuration
 
-## LOG_DISARMED: Enable logging while disarmed
+*Note: This parameter is for advanced users*
 
-If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues
+Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+|0|Do not save config|
+|1|Save config|
+|2|Save only when needed|
 
-## LOG_REPLAY: Enable logging of information needed for Replay
+## GPS_GNSS_MODE2: GNSS system configuration
 
-If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost
+*Note: This parameter is for advanced users*
+
+Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)
+
+- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS
+
+## GPS_AUTO_CONFIG: Automatic GPS configuration
+
+*Note: This parameter is for advanced users*
+
+Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+|0|Disables automatic configuration|
+|1|Enable automatic configuration|
 
-## LOG_FILE_DSRMROT: Stop logging to current file on disarm
+## GPS_RATE_MS: GPS update rate in milliseconds
 
-When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.
+*Note: This parameter is for advanced users*
+
+Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
+
+- Units: ms
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+|100|10Hz|
+|125|8Hz|
+|200|5Hz|
 
-## LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size
+- Range: 50 200
+
+## GPS_RATE_MS2: GPS 2 update rate in milliseconds
 
 *Note: This parameter is for advanced users*
 
-Maximum amount of memory to allocate to AP_Logger-over-mavlink
+Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
 
-- Units: kB
+- Units: ms
 
-## LOG_FILE_TIMEOUT: Timeout before giving up on file writes
+|Value|Meaning|
+|:---:|:---:|
+|100|10Hz|
+|125|8Hz|
+|200|5Hz|
 
-This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.
+- Range: 50 200
 
-- Units: s
+## GPS_POS1_X: Antenna X position offset
 
-## LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space
+*Note: This parameter is for advanced users*
 
-Set this such that the free space is larger than your largest typical flight log
+X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-- Units: MB
+- Units: m
 
-- Range: 10 1000
+- Range: -5 5
 
-# LOIT Parameters
+- Increment: 0.01
 
-## LOIT_ANG_MAX: Loiter Angle Max
+## GPS_POS1_Y: Antenna Y position offset
 
 *Note: This parameter is for advanced users*
 
-Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX
+Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-- Units: deg
+- Units: m
 
-- Range: 0 45
+- Range: -5 5
 
-- Increment: 1
+- Increment: 0.01
 
-## LOIT_SPEED: Loiter Horizontal Maximum Speed
+## GPS_POS1_Z: Antenna Z position offset
 
-Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode
+*Note: This parameter is for advanced users*
 
-- Units: cm/s
+Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-- Range: 20 3500
+- Units: m
 
-- Increment: 50
+- Range: -5 5
 
-## LOIT_ACC_MAX: Loiter maximum correction acceleration
+- Increment: 0.01
+
+## GPS_POS2_X: Antenna X position offset
 
 *Note: This parameter is for advanced users*
 
-Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively.
+X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-- Units: cm/s/s
+- Units: m
 
-- Range: 100 981
+- Range: -5 5
 
-- Increment: 1
+- Increment: 0.01
 
-## LOIT_BRK_ACCEL: Loiter braking acceleration
+## GPS_POS2_Y: Antenna Y position offset
 
 *Note: This parameter is for advanced users*
 
-Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.
+Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-- Units: cm/s/s
+- Units: m
 
-- Range: 25 250
+- Range: -5 5
 
-- Increment: 1
+- Increment: 0.01
 
-## LOIT_BRK_JERK: Loiter braking jerk
+## GPS_POS2_Z: Antenna Z position offset
 
 *Note: This parameter is for advanced users*
 
-Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.
+Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-- Units: cm/s/s/s
+- Units: m
 
-- Range: 500 5000
+- Range: -5 5
 
-- Increment: 1
+- Increment: 0.01
 
-## LOIT_BRK_DELAY: Loiter brake start delay (in seconds)
+## GPS_DELAY_MS: GPS delay in milliseconds
 
 *Note: This parameter is for advanced users*
 
-Loiter brake start delay (in seconds)
+Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
 
-- Units: s
+- Units: ms
 
-- Range: 0 2
+- Range: 0 250
 
-- Increment: 0.1
+- RebootRequired: True
 
-# MNT Parameters
+## GPS_DELAY_MS2: GPS 2 delay in milliseconds
 
-## MNT_TYPE: Mount Type
+*Note: This parameter is for advanced users*
 
-Mount Type (None, Servo or MAVLink)
+Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Servo|
-|2|3DR Solo|
-|3|Alexmos Serial|
-|4|SToRM32 MAVLink|
-|5|SToRM32 Serial|
+- Units: ms
+
+- Range: 0 250
 
 - RebootRequired: True
 
-## MNT_DEFLT_MODE: Mount default operating mode
+## GPS_BLEND_MASK: Multi GPS Blending Mask
 
-Mount default operating mode on startup and after control is returned from autopilot
+*Note: This parameter is for advanced users*
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Retracted|
-|1|Neutral|
-|2|MavLink Targeting|
-|3|RC Targeting|
-|4|GPS Point|
+Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
 
-## MNT_RETRACT_X: Mount roll angle when in retracted position
+- Bitmask: 0:Horiz Pos,1:Vert Pos,2:Speed
 
-Mount roll angle when in retracted position
+## GPS_BLEND_TC: Blending time constant
 
-- Units: deg
+*Note: This parameter is for advanced users*
 
-- Range: -180.00 179.99
+Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.
 
-- Increment: 1
+- Units: s
 
-## MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position
+- Range: 5.0 30.0
 
-Mount tilt/pitch angle when in retracted position
+## GPS_DRV_OPTIONS: driver options
 
-- Units: deg
+*Note: This parameter is for advanced users*
 
-- Range: -180.00 179.99
+Additional backend specific options
 
-- Increment: 1
+- Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200
 
-## MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position
+## GPS_COM_PORT: GPS physical COM port
 
-Mount yaw/pan angle when in retracted position
+*Note: This parameter is for advanced users*
 
-- Units: deg
+The physical COM port on the connected device, currently only applies to SBF GPS
 
-- Range: -180.00 179.99
+- Range: 0 10
 
 - Increment: 1
 
-## MNT_NEUTRAL_X: Mount roll angle when in neutral position
+- RebootRequired: True
 
-Mount roll angle when in neutral position
+## GPS_COM_PORT2: GPS physical COM port
 
-- Units: deg
+*Note: This parameter is for advanced users*
 
-- Range: -180.00 179.99
+The physical COM port on the connected device, currently only applies to SBF GPS
+
+- Range: 0 10
 
 - Increment: 1
 
-## MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position
+- RebootRequired: True
 
-Mount tilt/pitch angle when in neutral position
+## GPS_PRIMARY: Primary GPS
 
-- Units: deg
+*Note: This parameter is for advanced users*
 
-- Range: -180.00 179.99
+This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
 
 - Increment: 1
 
-## MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position
+|Value|Meaning|
+|:---:|:---:|
+|0|FirstGPS|
+|1|SecondGPS|
 
-Mount pan/yaw angle when in neutral position
+## GPS_CAN_NODEID1: GPS Node ID 1
+
+*Note: This parameter is for advanced users*
+
+GPS Node id for discovered first.
+
+- ReadOnly: True
 
-- Units: deg
+## GPS_CAN_NODEID2: GPS Node ID 2
 
-- Range: -180.00 179.99
+*Note: This parameter is for advanced users*
 
-- Increment: 1
+GPS Node id for discovered second.
 
-## MNT_STAB_ROLL: Stabilize mount's roll angle
+- ReadOnly: True
 
-enable roll stabilisation relative to Earth
+## GPS1_CAN_OVRIDE: First UAVCAN GPS NODE ID
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+*Note: This parameter is for advanced users*
 
-## MNT_STAB_TILT: Stabilize mount's pitch/tilt angle
+GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis.
 
-enable tilt/pitch stabilisation relative to Earth
+## GPS2_CAN_OVRIDE: Second UAVCAN GPS NODE ID
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+*Note: This parameter is for advanced users*
 
-## MNT_STAB_PAN: Stabilize mount pan/yaw angle
+GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis.
 
-enable pan/yaw stabilisation relative to Earth
+# GPSMB1 Parameters
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+## GPS_MB1_TYPE: Moving base type
 
-## MNT_RC_IN_ROLL: roll RC input channel
+*Note: This parameter is for advanced users*
 
-0 for none, any other for the RC channel to be used to control roll movements
+Controls the type of moving base used if using moving base.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|5|RC5|
-|6|RC6|
-|7|RC7|
-|8|RC8|
-|9|RC9|
-|10|RC10|
-|11|RC11|
-|12|RC12|
-
-## MNT_ANGMIN_ROL: Minimum roll angle
-
-Minimum physical roll angular position of mount.
+|0|Relative to alternate GPS instance|
+|1|RelativeToCustomBase|
 
-- Units: cdeg
+- RebootRequired: True
 
-- Range: -18000 17999
+## GPS_MB1_OFS_X: Base antenna X position offset
 
-- Increment: 10
+*Note: This parameter is for advanced users*
 
-## MNT_ANGMAX_ROL: Maximum roll angle
+X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-Maximum physical roll angular position of the mount
+- Units: m
 
-- Units: cdeg
+- Range: -5 5
 
-- Range: -18000 17999
+- Increment: 0.01
 
-- Increment: 10
+## GPS_MB1_OFS_Y: Base antenna Y position offset    
 
-## MNT_RC_IN_TILT: tilt (pitch) RC input channel
+*Note: This parameter is for advanced users*
 
-0 for none, any other for the RC channel to be used to control tilt (pitch) movements
+Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|5|RC5|
-|6|RC6|
-|7|RC7|
-|8|RC8|
-|9|RC9|
-|10|RC10|
-|11|RC11|
-|12|RC12|
+- Units: m
 
-## MNT_ANGMIN_TIL: Minimum tilt angle
+- Range: -5 5
 
-Minimum physical tilt (pitch) angular position of mount.
+- Increment: 0.01
 
-- Units: cdeg
+## GPS_MB1_OFS_Z: Base antenna Z position offset
 
-- Range: -18000 17999
+*Note: This parameter is for advanced users*
 
-- Increment: 10
+Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-## MNT_ANGMAX_TIL: Maximum tilt angle
+- Units: m
 
-Maximum physical tilt (pitch) angular position of the mount
+- Range: -5 5
 
-- Units: cdeg
+- Increment: 0.01
 
-- Range: -18000 17999
+# GPSMB2 Parameters
 
-- Increment: 10
+## GPS_MB2_TYPE: Moving base type
 
-## MNT_RC_IN_PAN: pan (yaw) RC input channel
+*Note: This parameter is for advanced users*
 
-0 for none, any other for the RC channel to be used to control pan (yaw) movements
+Controls the type of moving base used if using moving base.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
-|5|RC5|
-|6|RC6|
-|7|RC7|
-|8|RC8|
-|9|RC9|
-|10|RC10|
-|11|RC11|
-|12|RC12|
-
-## MNT_ANGMIN_PAN: Minimum pan angle
+|0|Relative to alternate GPS instance|
+|1|RelativeToCustomBase|
 
-Minimum physical pan (yaw) angular position of mount.
+- RebootRequired: True
 
-- Units: cdeg
+## GPS_MB2_OFS_X: Base antenna X position offset
 
-- Range: -18000 17999
+*Note: This parameter is for advanced users*
 
-- Increment: 10
+X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-## MNT_ANGMAX_PAN: Maximum pan angle
+- Units: m
 
-Maximum physical pan (yaw) angular position of the mount
+- Range: -5 5
 
-- Units: cdeg
+- Increment: 0.01
 
-- Range: -18000 17999
+## GPS_MB2_OFS_Y: Base antenna Y position offset    
 
-- Increment: 10
+*Note: This parameter is for advanced users*
 
-## MNT_JSTICK_SPD: mount joystick speed
+Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-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.
+- Units: m
 
-- Range: 0 100
+- Range: -5 5
 
-- Increment: 1
+- Increment: 0.01
 
-## MNT_LEAD_RLL: Roll stabilization lead time
+## GPS_MB2_OFS_Z: Base antenna Z position offset
 
-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.
+*Note: This parameter is for advanced users*
 
-- Units: s
+Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
 
-- Range: 0.0 0.2
+- Units: m
 
-- Increment: .005
+- Range: -5 5
 
-## MNT_LEAD_PTCH: Pitch stabilization lead time
+- Increment: 0.01
 
-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.
+# GRIP Parameters
 
-- Units: s
+## GRIP_ENABLE: Gripper Enable/Disable
 
-- Range: 0.0 0.2
+Gripper enable/disable
 
-- Increment: .005
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-## MNT2_DEFLT_MODE: Mount default operating mode
+## GRIP_TYPE: Gripper Type
 
-Mount default operating mode on startup and after control is returned from autopilot
+Gripper enable/disable
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Retracted|
-|1|Neutral|
-|2|MavLink Targeting|
-|3|RC Targeting|
-|4|GPS Point|
+|0|None|
+|1|Servo|
+|2|EPM|
 
-## MNT2_RETRACT_X: Mount2 roll angle when in retracted position
+## GRIP_GRAB: Gripper Grab PWM
 
-Mount2 roll angle when in retracted position
+*Note: This parameter is for advanced users*
 
-- Units: deg
+PWM value in microseconds sent to Gripper to initiate grabbing the cargo
 
-- Range: -180.00 179.99
+- Range: 1000 2000
 
-- Increment: 1
+- Units: PWM
 
-## MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position
+## GRIP_RELEASE: Gripper Release PWM
 
-Mount2 tilt/pitch angle when in retracted position
+*Note: This parameter is for advanced users*
 
-- Units: deg
+PWM value in microseconds sent to Gripper to release the cargo
 
-- Range: -180.00 179.99
+- Range: 1000 2000
 
-- Increment: 1
+- Units: PWM
 
-## MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position
+## GRIP_NEUTRAL: Neutral PWM
 
-Mount2 yaw/pan angle when in retracted position
+*Note: This parameter is for advanced users*
 
-- Units: deg
+PWM value in microseconds sent to grabber when not grabbing or releasing
 
-- Range: -180.00 179.99
+- Range: 1000 2000
 
-- Increment: 1
+- Units: PWM
 
-## MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position
+## GRIP_REGRAB: Gripper Regrab interval
 
-Mount2 roll angle when in neutral position
+*Note: This parameter is for advanced users*
 
-- Units: deg
+Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable
 
-- Range: -180.00 179.99
+- Range: 0 255
 
-- Increment: 1
+- Units: s
 
-## MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position
+## GRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID
 
-Mount2 tilt/pitch angle when in neutral position
+Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface
 
-- Units: deg
+- Range: 0 255
 
-- Range: -180.00 179.99
+# INS Parameters
 
-- Increment: 1
+## INS_GYROFFS_X: Gyro offsets of X axis
 
-## MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position
+*Note: This parameter is for advanced users*
 
-Mount2 pan/yaw angle when in neutral position
+Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
 
-- Units: deg
+- Units: rad/s
 
-- Range: -180.00 179.99
+- Calibration: 1
 
-- Increment: 1
+## INS_GYROFFS_Y: Gyro offsets of Y axis
 
-## MNT2_STAB_ROLL: Stabilize Mount2's roll angle
+*Note: This parameter is for advanced users*
 
-enable roll stabilisation relative to Earth
+Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Units: rad/s
+
+- Calibration: 1
+
+## INS_GYROFFS_Z: Gyro offsets of Z axis
 
-## MNT2_STAB_TILT: Stabilize Mount2's pitch/tilt angle
+*Note: This parameter is for advanced users*
 
-enable tilt/pitch stabilisation relative to Earth
+Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Units: rad/s
 
-## MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle
+- Calibration: 1
 
-enable pan/yaw stabilisation relative to Earth
+## INS_GYR2OFFS_X: Gyro2 offsets of X axis
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+*Note: This parameter is for advanced users*
 
-## MNT2_RC_IN_ROLL: Mount2's roll RC input channel
+Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
 
-0 for none, any other for the RC channel to be used to control roll movements
+- Units: rad/s
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|5|RC5|
-|6|RC6|
-|7|RC7|
-|8|RC8|
-|9|RC9|
-|10|RC10|
-|11|RC11|
-|12|RC12|
+- Calibration: 1
 
-## MNT2_ANGMIN_ROL: Mount2's minimum roll angle
+## INS_GYR2OFFS_Y: Gyro2 offsets of Y axis
 
-Mount2's minimum physical roll angular position
+*Note: This parameter is for advanced users*
 
-- Units: cdeg
+Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
 
-- Range: -18000 17999
+- Units: rad/s
 
-- Increment: 10
+- Calibration: 1
 
-## MNT2_ANGMAX_ROL: Mount2's maximum roll angle
+## INS_GYR2OFFS_Z: Gyro2 offsets of Z axis
 
-Mount2's maximum physical roll angular position
+*Note: This parameter is for advanced users*
 
-- Units: cdeg
+Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
 
-- Range: -18000 17999
+- Units: rad/s
 
-- Increment: 10
+- Calibration: 1
 
-## MNT2_RC_IN_TILT: Mount2's tilt (pitch) RC input channel
+## INS_GYR3OFFS_X: Gyro3 offsets of X axis
 
-0 for none, any other for the RC channel to be used to control tilt (pitch) movements
+*Note: This parameter is for advanced users*
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|5|RC5|
-|6|RC6|
-|7|RC7|
-|8|RC8|
-|9|RC9|
-|10|RC10|
-|11|RC11|
-|12|RC12|
+Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
 
-## MNT2_ANGMIN_TIL: Mount2's minimum tilt angle
+- Units: rad/s
 
-Mount2's minimum physical tilt (pitch) angular position
+- Calibration: 1
 
-- Units: cdeg
+## INS_GYR3OFFS_Y: Gyro3 offsets of Y axis
 
-- Range: -18000 17999
+*Note: This parameter is for advanced users*
 
-- Increment: 10
+Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
 
-## MNT2_ANGMAX_TIL: Mount2's maximum tilt angle
+- Units: rad/s
 
-Mount2's maximum physical tilt (pitch) angular position
+- Calibration: 1
 
-- Units: cdeg
+## INS_GYR3OFFS_Z: Gyro3 offsets of Z axis
 
-- Range: -18000 17999
+*Note: This parameter is for advanced users*
 
-- Increment: 10
+Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
 
-## MNT2_RC_IN_PAN: Mount2's pan (yaw) RC input channel
+- Units: rad/s
 
-0 for none, any other for the RC channel to be used to control pan (yaw) movements
+- Calibration: 1
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|5|RC5|
-|6|RC6|
-|7|RC7|
-|8|RC8|
-|9|RC9|
-|10|RC10|
-|11|RC11|
-|12|RC12|
+## INS_ACCSCAL_X: Accelerometer scaling of X axis
 
-## MNT2_ANGMIN_PAN: Mount2's minimum pan angle
+*Note: This parameter is for advanced users*
 
-Mount2's minimum physical pan (yaw) angular position
+Accelerometer scaling of X axis.  Calculated during acceleration calibration routine
 
-- Units: cdeg
+- Range: 0.8 1.2
 
-- Range: -18000 17999
+- Calibration: 1
 
-- Increment: 10
+## INS_ACCSCAL_Y: Accelerometer scaling of Y axis
 
-## MNT2_ANGMAX_PAN: Mount2's maximum pan angle
+*Note: This parameter is for advanced users*
 
-MOunt2's maximum physical pan (yaw) angular position
+Accelerometer scaling of Y axis  Calculated during acceleration calibration routine
 
-- Units: cdeg
+- Range: 0.8 1.2
 
-- Range: -18000 17999
+- Calibration: 1
 
-- Increment: 10
+## INS_ACCSCAL_Z: Accelerometer scaling of Z axis
 
-## MNT2_LEAD_RLL: Mount2's Roll stabilization lead time
+*Note: This parameter is for advanced users*
 
-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.
+Accelerometer scaling of Z axis  Calculated during acceleration calibration routine
 
-- Units: s
+- Range: 0.8 1.2
 
-- Range: 0.0 0.2
+- Calibration: 1
 
-- Increment: .005
+## INS_ACCOFFS_X: Accelerometer offsets of X axis
 
-## MNT2_LEAD_PTCH: Mount2's Pitch stabilization lead time
+*Note: This parameter is for advanced users*
 
-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.
+Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
 
-- Units: s
+- Units: m/s/s
 
-- Range: 0.0 0.2
+- Range: -3.5 3.5
 
-- Increment: .005
+- Calibration: 1
 
-## MNT2_TYPE: Mount2 Type
+## INS_ACCOFFS_Y: Accelerometer offsets of Y axis
 
-Mount Type (None, Servo or MAVLink)
+*Note: This parameter is for advanced users*
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Servo|
-|2|3DR Solo|
-|3|Alexmos Serial|
-|4|SToRM32 MAVLink|
-|5|SToRM32 Serial|
+Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
 
-# MOT Parameters
+- Units: m/s/s
 
-## MOT_1_DIRECTION: Motor normal or reverse
+- Range: -3.5 3.5
 
-Used to change motor rotation directions without changing wires
+- Calibration: 1
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+## INS_ACCOFFS_Z: Accelerometer offsets of Z axis
 
-## MOT_2_DIRECTION: Motor normal or reverse
+*Note: This parameter is for advanced users*
 
-Used to change motor rotation directions without changing wires
+Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+- Units: m/s/s
 
-## MOT_3_DIRECTION: Motor normal or reverse
+- Range: -3.5 3.5
 
-Used to change motor rotation directions without changing wires
+- Calibration: 1
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+## INS_ACC2SCAL_X: Accelerometer2 scaling of X axis
 
-## MOT_4_DIRECTION: Motor normal or reverse
+*Note: This parameter is for advanced users*
 
-Used to change motor rotation directions without changing wires
+Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+- Range: 0.8 1.2
 
-## MOT_5_DIRECTION: Motor normal or reverse
+- Calibration: 1
 
-Used to change motor rotation directions without changing wires
+## INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+*Note: This parameter is for advanced users*
 
-## MOT_6_DIRECTION: Motor normal or reverse
+Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine
 
-Used to change motor rotation directions without changing wires
+- Range: 0.8 1.2
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+- Calibration: 1
 
-## MOT_7_DIRECTION: Motor normal or reverse
+## INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis
 
-Used to change motor rotation directions without changing wires
+*Note: This parameter is for advanced users*
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine
 
-## MOT_8_DIRECTION: Motor normal or reverse
+- Range: 0.8 1.2
 
-Used to change motor rotation directions without changing wires
+- Calibration: 1
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+## INS_ACC2OFFS_X: Accelerometer2 offsets of X axis
 
-## MOT_FV_CPLNG_K: Forward/vertical to pitch decoupling factor
+*Note: This parameter is for advanced users*
 
-Used to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal
+Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations
 
-- Range: 0.0 1.5
+- Units: m/s/s
 
-- Increment: 0.1
+- Range: -3.5 3.5
 
-## MOT_9_DIRECTION: Motor normal or reverse
+- Calibration: 1
 
-Used to change motor rotation directions without changing wires
+## INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+*Note: This parameter is for advanced users*
 
-## MOT_10_DIRECTION: Motor normal or reverse
+Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations
 
-Used to change motor rotation directions without changing wires
+- Units: m/s/s
+
+- Range: -3.5 3.5
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+- Calibration: 1
 
-## MOT_11_DIRECTION: Motor normal or reverse
+## INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis
 
-Used to change motor rotation directions without changing wires
+*Note: This parameter is for advanced users*
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations
 
-## MOT_12_DIRECTION: Motor normal or reverse
+- Units: m/s/s
 
-Used to change motor rotation directions without changing wires
+- Range: -3.5 3.5
 
-|Value|Meaning|
-|:---:|:---:|
-|1|normal|
-|-1|reverse|
+- Calibration: 1
 
-## MOT_YAW_HEADROOM: Matrix Yaw Min
+## INS_ACC3SCAL_X: Accelerometer3 scaling of X axis
 
 *Note: This parameter is for advanced users*
 
-Yaw control is given at least this pwm in microseconds range
+Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine
 
-- Range: 0 500
+- Range: 0.8 1.2
 
-- Units: PWM
+- Calibration: 1
 
-## MOT_THST_EXPO: Thrust Curve Expo
+## INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis
 
 *Note: This parameter is for advanced users*
 
-Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
+Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine
 
-- Range: -1.0 1.0
+- Range: 0.8 1.2
 
-## MOT_SPIN_MAX: Motor Spin maximum
+- Calibration: 1
+
+## INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis
 
 *Note: This parameter is for advanced users*
 
-Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
+Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine
 
-- Values: 0.9:Low,0.95:Default,1.0:High
+- Range: 0.8 1.2
 
-## MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage
+- Calibration: 1
+
+## INS_ACC3OFFS_X: Accelerometer3 offsets of X axis
 
 *Note: This parameter is for advanced users*
 
-Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.2 * cell count, 0 = Disabled
+Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations
 
-- Range: 6 53
+- Units: m/s/s
 
-- Units: V
+- Range: -3.5 3.5
 
-## MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage
+- Calibration: 1
+
+## INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis
 
 *Note: This parameter is for advanced users*
 
-Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.3 * cell count, 0 = Disabled
+Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations
 
-- Range: 6 42
+- Units: m/s/s
 
-- Units: V
+- Range: -3.5 3.5
 
-## MOT_BAT_CURR_MAX: Motor Current Max
+- Calibration: 1
+
+## INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis
 
 *Note: This parameter is for advanced users*
 
-Maximum current over which maximum throttle is limited (0 = Disabled)
+Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations
 
-- Range: 0 200
+- Units: m/s/s
 
-- Units: A
+- Range: -3.5 3.5
 
-## MOT_PWM_TYPE: Output PWM type
+- Calibration: 1
+
+## INS_GYRO_FILTER: Gyro filter cutoff frequency
 
 *Note: This parameter is for advanced users*
 
-This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
+Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Normal|
-|1|OneShot|
-|2|OneShot125|
-|3|Brushed|
-|4|DShot150|
-|5|DShot300|
-|6|DShot600|
-|7|DShot1200|
+- Units: Hz
 
-- RebootRequired: True
+- Range: 0 256
 
-## MOT_PWM_MIN: PWM output minimum
+## INS_ACCEL_FILTER: Accel filter cutoff frequency
 
 *Note: This parameter is for advanced users*
 
-This sets the min PWM output value in microseconds that will ever be output to the motors
+Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
 
-- Units: PWM
+- Units: Hz
 
-- Range: 0 2000
+- Range: 0 256
 
-## MOT_PWM_MAX: PWM output maximum
+## INS_USE: Use first IMU for attitude, velocity and position estimates
 
 *Note: This parameter is for advanced users*
 
-This sets the max PWM value in microseconds that will ever be output to the motors
-
-- Units: PWM
+Use first IMU for attitude, velocity and position estimates
 
-- Range: 0 2000
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-## MOT_SPIN_MIN: Motor Spin minimum
+## INS_USE2: Use second IMU for attitude, velocity and position estimates
 
 *Note: This parameter is for advanced users*
 
-Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM.
+Use second IMU for attitude, velocity and position estimates
 
-- Values: 0.0:Low,0.15:Default,0.3:High
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-## MOT_SPIN_ARM: Motor Spin armed
+## INS_USE3: Use third IMU for attitude, velocity and position estimates
 
 *Note: This parameter is for advanced users*
 
-Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN.
+Use third IMU for attitude, velocity and position estimates
 
-- Values: 0.0:Low,0.1:Default,0.2:High
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-## MOT_BAT_CURR_TC: Motor Current Max Time Constant
+## INS_STILL_THRESH: Stillness threshold for detecting if we are moving
 
 *Note: This parameter is for advanced users*
 
-Time constant used to limit the maximum current
-
-- Range: 0 10
+Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
 
-- Units: s
+- Range: 0.05 50
 
-## MOT_THST_HOVER: Thrust Hover Value
+## INS_GYR_CAL: Gyro Calibration scheme
 
 *Note: This parameter is for advanced users*
 
-Motor thrust needed to hover expressed as a number from 0 to 1
+Conrols when automatic gyro calibration is performed
 
-- Range: 0.2 0.8
+|Value|Meaning|
+|:---:|:---:|
+|0|Never|
+|1|Start-up only|
 
-## MOT_HOVER_LEARN: Hover Value Learning
+## INS_TRIM_OPTION: Accel cal trim option
 
 *Note: This parameter is for advanced users*
 
-Enable/Disable automatic learning of hover throttle
+Specifies how the accel cal routine determines the trims
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
+|0|Don't adjust the trims|
+|1|Assume first orientation was level|
+|2|Assume ACC_BODYFIX is perfectly aligned to the vehicle|
 
-## MOT_SAFE_DISARM: Motor PWM output disabled when disarmed
+## INS_ACC_BODYFIX: Body-fixed accelerometer
 
 *Note: This parameter is for advanced users*
 
-Disables motor PWM output when disarmed
+The body-fixed accelerometer to be used for trim calculation
 
 |Value|Meaning|
 |:---:|:---:|
-|0|PWM enabled while disarmed|
-|1|PWM disabled while disarmed|
+|1|IMU 1|
+|2|IMU 2|
+|3|IMU 3|
 
-## MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle
+## INS_POS1_X: IMU accelerometer X position
 
-Yaw servo's maximum lean angle
+*Note: This parameter is for advanced users*
 
-- Range: 5 80
+X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
 
-- Units: deg
+- Units: m
 
-- Increment: 1
+- Range: -5 5
 
-## MOT_SPOOL_TIME: Spool up time
+- Increment: 0.01
+
+## INS_POS1_Y: IMU accelerometer Y position
 
 *Note: This parameter is for advanced users*
 
-Time in seconds to spool up the motors from zero to min throttle. 
+Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
 
-- Range: 0 2
+- Units: m
 
-- Units: s
+- Range: -5 5
 
-- Increment: 0.1
+- Increment: 0.01
 
-## MOT_BOOST_SCALE: Motor boost scale
+## INS_POS1_Z: IMU accelerometer Z position
 
 *Note: This parameter is for advanced users*
 
-Booster motor output scaling factor vs main throttle.  The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.
+Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
 
-- Range: 0 5
+- Units: m
 
-- Increment: 0.1
+- Range: -5 5
 
-## MOT_BAT_IDX: Battery compensation index
+- Increment: 0.01
+
+## INS_POS2_X: IMU accelerometer X position
 
 *Note: This parameter is for advanced users*
 
-Which battery monitor should be used for doing compensation
+X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|First battery|
-|1|Second battery|
+- Units: m
 
-## MOT_SLEW_UP_TIME: Output slew time for increasing throttle
+- Range: -5 5
+
+- Increment: 0.01
+
+## INS_POS2_Y: IMU accelerometer Y position
 
 *Note: This parameter is for advanced users*
 
-Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
+Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
 
-- Range: 0 .5
+- Units: m
 
-- Units: s
+- Range: -5 5
 
-- Increment: 0.001
+- Increment: 0.01
 
-## MOT_SLEW_DN_TIME: Output slew time for decreasing throttle
+## INS_POS2_Z: IMU accelerometer Z position
 
 *Note: This parameter is for advanced users*
 
-Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change.  Range is constrained between 0 and 0.5.
+Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
 
-- Range: 0 .5
+- Units: m
+
+- Range: -5 5
+
+- Increment: 0.01
+
+## INS_POS3_X: IMU accelerometer X position
+
+*Note: This parameter is for advanced users*
+
+X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
+
+- Units: m
+
+- Range: -10 10
+
+## INS_POS3_Y: IMU accelerometer Y position
+
+*Note: This parameter is for advanced users*
+
+Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
+
+- Units: m
+
+- Range: -5 5
+
+- Increment: 0.01
+
+## INS_POS3_Z: IMU accelerometer Z position
+
+*Note: This parameter is for advanced users*
 
-- Units: s
+Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
 
-- Increment: 0.001
+- Units: m
 
-## MOT_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed.
+- Range: -5 5
 
-*Note: This parameter is for advanced users*
+- Increment: 0.01
 
-Time taken to disable and enable the motor PWM output when disarmed and armed.
+## INS_GYR_ID: Gyro ID
 
-- Range: 0 5
+*Note: This parameter is for advanced users*
 
-- Units: s
+Gyro sensor ID, taking into account its type, bus and instance
 
-- Increment: 0.001
+- ReadOnly: True
 
-# MSP Parameters
+## INS_GYR2_ID: Gyro2 ID
 
-## MSP_OSD_NCELLS: Cell count override
+*Note: This parameter is for advanced users*
 
-Used for average cell voltage calculation
+Gyro2 sensor ID, taking into account its type, bus and instance
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Auto|
-|1|1|
-|2|2|
-|3|3|
-|4|4|
-|5|5|
-|6|6|
-|7|7|
-|8|8|
-|9|9|
-|10|10|
-|11|11|
-|12|12|
-|13|13|
-|14|14|
+- ReadOnly: True
 
-## MSP_OPTIONS: MSP OSD Options
+## INS_GYR3_ID: Gyro3 ID
 
-A bitmask to set some MSP specific options
+*Note: This parameter is for advanced users*
 
-- Bitmask: 0:EnableTelemetryMode
+Gyro3 sensor ID, taking into account its type, bus and instance
 
-# NTF Parameters
+- ReadOnly: True
 
-## NTF_LED_BRIGHT: LED Brightness
+## INS_ACC_ID: Accelerometer ID
 
 *Note: This parameter is for advanced users*
 
-Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
+Accelerometer sensor ID, taking into account its type, bus and instance
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Off|
-|1|Low|
-|2|Medium|
-|3|High|
+- ReadOnly: True
 
-## NTF_BUZZ_TYPES: Buzzer Driver Types
+## INS_ACC2_ID: Accelerometer2 ID
 
 *Note: This parameter is for advanced users*
 
-Controls what types of Buzzer will be enabled
+Accelerometer2 sensor ID, taking into account its type, bus and instance
 
-- Bitmask: 0:Built-in buzzer, 1:DShot, 2:UAVCAN
+- ReadOnly: True
 
-## NTF_LED_OVERRIDE: Specifies colour source for the RGBLed
+## INS_ACC3_ID: Accelerometer3 ID
 
 *Note: This parameter is for advanced users*
 
-Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
+Accelerometer3 sensor ID, taking into account its type, bus and instance
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Standard|
-|1|MAVLink/Scripting/AP_Periph|
-|2|OutbackChallenge|
-|3|TrafficLight|
+- ReadOnly: True
 
-## NTF_DISPLAY_TYPE: Type of on-board I2C display
+## INS_FAST_SAMPLE: Fast sampling mask
 
 *Note: This parameter is for advanced users*
 
-This sets up the type of on-board I2C display. Disabled by default.
+Mask of IMUs to enable fast sampling on, if available
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disable|
-|1|ssd1306|
-|2|sh1106|
-|10|SITL|
+- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU
 
-## NTF_OREO_THEME: OreoLED Theme
+## INS_ENABLE_MASK: IMU enable mask
 
 *Note: This parameter is for advanced users*
 
-Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
+Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Aircraft|
-|2|Rover|
+- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU
 
-## NTF_BUZZ_PIN: Buzzer pin
+## INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled
 
 *Note: This parameter is for advanced users*
 
-Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!
+Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Disabled|
+|0|1kHz|
+|1|2kHz|
+|2|4kHz|
+|3|8kHz|
 
-## NTF_LED_TYPES: LED Driver Types
+- RebootRequired: True
+
+## INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer
 
 *Note: This parameter is for advanced users*
 
-Controls what types of LEDs will be enabled
+Temperature that the 1st accelerometer was calibrated at
 
-- Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot
+- Units: degC
 
-## NTF_BUZZ_ON_LVL: Buzzer-on pin logic level
+- Calibration: 1
+
+## INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope
 
 *Note: This parameter is for advanced users*
 
-Specifies pin level that indicates buzzer should play
+Temperature that the 1st gyroscope was calibrated at
 
-|Value|Meaning|
-|:---:|:---:|
-|0|LowIsOn|
-|1|HighIsOn|
+- Units: degC
 
-## NTF_BUZZ_VOLUME: Buzzer volume
+- Calibration: 1
 
-Control the volume of the buzzer
+## INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer
 
-- Range: 0 100
+*Note: This parameter is for advanced users*
 
-- Units: %
+Temperature that the 2nd accelerometer was calibrated at
 
-## NTF_LED_LEN: Serial LED String Length
+- Units: degC
 
-*Note: This parameter is for advanced users*
+- Calibration: 1
 
-The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
+## INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope
 
-- Range: 1 32
+*Note: This parameter is for advanced users*
 
-- RebootRequired: True
+Temperature that the 2nd gyroscope was calibrated at
 
-# PSC Parameters
+- Units: degC
 
-## PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency
+- Calibration: 1
+
+## INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer
 
 *Note: This parameter is for advanced users*
 
-Lower values will slow the response of the navigation controller and reduce twitchiness
+Temperature that the 3rd accelerometer was calibrated at
 
-- Units: Hz
+- Units: degC
 
-- Range: 0.5 5
+- Calibration: 1
 
-- Increment: 0.1
+## INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope
 
-## PSC_POSZ_P: Position (vertical) controller P gain
+*Note: This parameter is for advanced users*
 
-Position (vertical) 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
+Temperature that the 3rd gyroscope was calibrated at
 
-- Range: 1.000 3.000
+- Units: degC
 
-## PSC_VELZ_P: Velocity (vertical) controller P gain
+- Calibration: 1
 
-Velocity (vertical) 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
+## INS_TCAL_OPTIONS: Options for temperature calibration
 
-- Range: 1.000 8.000
+*Note: This parameter is for advanced users*
 
-## PSC_VELZ_I: Velocity (vertical) controller I gain
+This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.
+
+- Bitmask: 0:PersistParams
+
+# INSHNTCH Parameters
+
+## INS_HNTCH_ENABLE: Harmonic Notch Filter enable
 
 *Note: This parameter is for advanced users*
 
-Velocity (vertical) controller I gain.  Corrects long-term difference in desired velocity to a target acceleration
+Harmonic Notch Filter enable
 
-- Range: 0.02 1.00
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-- Increment: 0.01
+## INS_HNTCH_FREQ: Harmonic Notch Filter base frequency
 
-## PSC_VELZ_IMAX: Velocity (vertical) controller I gain maximum
+*Note: This parameter is for advanced users*
 
-Velocity (vertical) controller I gain maximum.  Constrains the target acceleration that the I gain will output
+Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter.  Recommend setting it to half the operating rotor speed in Hz.
 
-- Range: 1.000 8.000
+- Range: 10 495
 
-## PSC_VELZ_D: Velocity (vertical) controller D gain
+- Units: Hz
+
+## INS_HNTCH_BW: Harmonic Notch Filter bandwidth
 
 *Note: This parameter is for advanced users*
 
-Velocity (vertical) controller D gain.  Corrects short-term changes in velocity
+Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
 
-- Range: 0.00 1.00
+- Range: 5 250
 
-- Increment: 0.001
+- Units: Hz
 
-## PSC_VELZ_FF: Velocity (vertical) controller Feed Forward gain
+## INS_HNTCH_ATT: Harmonic Notch Filter attenuation
 
 *Note: This parameter is for advanced users*
 
-Velocity (vertical) controller Feed Forward gain.  Produces an output that is proportional to the magnitude of the target
+Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
 
-- Range: 0 1
+- Range: 5 50
 
-- Increment: 0.01
+- Units: dB
 
-## PSC_VELZ_FLTE: Velocity (vertical) error filter
+## INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics
 
 *Note: This parameter is for advanced users*
 
-Velocity (vertical) error filter.  This filter (in Hz) is applied to the input for P and I terms
+Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.
 
-- Range: 0 100
+- Bitmask: 0:1st harmonic,1:2nd harmonic,2:3rd harmonic,3:4th hamronic,4:5th harmonic,5:6th harmonic,6:7th harmonic,7:8th harmonic
 
-- Units: Hz
+- RebootRequired: True
 
-## PSC_VELZ_FLTD: Velocity (vertical) input filter for D term
+## INS_HNTCH_REF: Harmonic Notch Filter reference value
 
 *Note: This parameter is for advanced users*
 
-Velocity (vertical) input filter for D term.  This filter (in Hz) is applied to the input for D terms
+A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter.  For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter.  This reference value may also be used to scale the sensor data, if required.  For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
 
-- Range: 0 100
+- Range: 0.0 1.0
 
-- Units: Hz
+- RebootRequired: True
 
-## PSC_ACCZ_P: Acceleration (vertical) controller P gain
+## INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode
 
-Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output
+*Note: This parameter is for advanced users*
 
-- Range: 0.200 1.500
+Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.
 
-- Increment: 0.05
+- Range: 0 4
 
-## PSC_ACCZ_I: Acceleration (vertical) controller I gain
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Throttle|
+|2|RPM Sensor|
+|3|ESC Telemetry|
+|4|Dynamic FFT|
 
-Acceleration (vertical) controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration
+## INS_HNTCH_OPTS: Harmonic Notch Filter options
 
-- Range: 0.000 3.000
+*Note: This parameter is for advanced users*
 
-## PSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum
+Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz.
 
-Acceleration (vertical) controller I gain maximum.  Constrains the maximum pwm that the I term will generate
+- Bitmask: 0:Double notch,1:Dynamic harmonic,2:Update at loop rate
 
-- Range: 0 1000
+- RebootRequired: True
 
-- Units: d%
+# INSLOG Parameters
 
-## PSC_ACCZ_D: Acceleration (vertical) controller D gain
+## INS_LOG_BAT_CNT: sample count per batch
 
-Acceleration (vertical) controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration
+*Note: This parameter is for advanced users*
 
-- Range: 0.000 0.400
+Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32. This option takes effect on the next reboot.
 
-## PSC_ACCZ_FF: Acceleration (vertical) controller feed forward
+- Increment: 32
 
-Acceleration (vertical) controller feed forward
+- RebootRequired: True
 
-- Range: 0 0.5
+## INS_LOG_BAT_MASK: Sensor Bitmask
 
-- Increment: 0.001
+*Note: This parameter is for advanced users*
 
-## PSC_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz
+Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.
 
-Acceleration (vertical) controller target frequency in Hz
+- Bitmask: 0:IMU1,1:IMU2,2:IMU3
 
-- Range: 1 50
+- RebootRequired: True
 
-- Increment: 1
+## INS_LOG_BAT_OPT: Batch Logging Options Mask
 
-- Units: Hz
+*Note: This parameter is for advanced users*
 
-## PSC_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz
+Options for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time.
 
-Acceleration (vertical) controller error frequency in Hz
+- Bitmask: 0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering
 
-- Range: 1 100
+## INS_LOG_BAT_LGIN: logging interval
 
-- Increment: 1
+Interval between pushing samples to the AP_Logger log
 
-- Units: Hz
+- Units: ms
 
-## PSC_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz
+- Increment: 10
 
-Acceleration (vertical) controller derivative frequency in Hz
+## INS_LOG_BAT_LGCT: logging count
 
-- Range: 1 100
+Number of samples to push to count every INS_LOG_BAT_LGIN
 
 - Increment: 1
 
-- Units: Hz
+# INSNOTCH Parameters
 
-## PSC_ACCZ_SMAX: Accel (vertical) slew rate limit
+## INS_NOTCH_ENABLE: Enable
 
 *Note: This parameter is for advanced users*
 
-Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
+Enable notch filter
 
-- Range: 0 200
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-- Increment: 0.5
+## INS_NOTCH_ATT: Attenuation
 
-## PSC_POSXY_P: Position (horizontal) controller P gain
+*Note: This parameter is for advanced users*
 
-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
+Notch attenuation in dB
 
-- Range: 0.500 2.000
+- Range: 5 30
 
-## PSC_VELXY_P: Velocity (horizontal) P gain
+- Units: dB
+
+## INS_NOTCH_FREQ: Frequency
 
 *Note: This parameter is for advanced users*
 
-Velocity (horizontal) P gain.  Converts the difference between desired and actual velocity to a target acceleration
+Notch center frequency in Hz
 
-- Range: 0.1 6.0
+- Range: 10 400
 
-- Increment: 0.1
+- Units: Hz
 
-## PSC_VELXY_I: Velocity (horizontal) I gain
+## INS_NOTCH_BW: Bandwidth
 
 *Note: This parameter is for advanced users*
 
-Velocity (horizontal) I gain.  Corrects long-term difference between desired and actual velocity to a target acceleration
+Notch bandwidth in Hz
 
-- Range: 0.02 1.00
+- Range: 5 100
 
-- Increment: 0.01
+- Units: Hz
 
-## PSC_VELXY_D: Velocity (horizontal) D gain
+# INSTCALn Parameters
+
+## INS_TCALn_ENABLE: Enable temperature calibration
 
 *Note: This parameter is for advanced users*
 
-Velocity (horizontal) D gain.  Corrects short-term changes in velocity
+Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
 
-- Range: 0.00 1.00
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+|2|LearnCalibration|
 
-- Increment: 0.001
+- RebootRequired: True
 
-## PSC_VELXY_IMAX: Velocity (horizontal) integrator maximum
+## INS_TCALn_TMIN: Temperature calibration min
 
 *Note: This parameter is for advanced users*
 
-Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output
+The minimum temperature that the calibration is valid for
 
-- Range: 0 4500
+- Range: -70 80
 
-- Increment: 10
+- Units: degC
 
-- Units: cm/s/s
+- Calibration: 1
 
-## PSC_VELXY_FLTE: Velocity (horizontal) input filter
+## INS_TCALn_TMAX: Temperature calibration max
 
 *Note: This parameter is for advanced users*
 
-Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms
+The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
 
-- Range: 0 100
+- Range: -70 80
 
-- Units: Hz
+- Units: degC
 
-## PSC_VELXY_FLTD: Velocity (horizontal) input filter
+- Calibration: 1
 
-*Note: This parameter is for advanced users*
+## INS_TCALn_ACC1_X: Accelerometer 1st order temperature coefficient X axis
 
-Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term
+*Note: This parameter is for advanced users*
 
-- Range: 0 100
+This is the 1st order temperature coefficient from a temperature calibration
 
-- Units: Hz
+- Calibration: 1
 
-## PSC_VELXY_FF: Velocity (horizontal) feed forward gain
+## INS_TCALn_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
 
 *Note: This parameter is for advanced users*
 
-Velocity (horizontal) feed forward gain.  Converts the difference between desired velocity to a target acceleration
-
-- Range: 0 6
+This is the 1st order temperature coefficient from a temperature calibration
 
-- Increment: 0.01
+- Calibration: 1
 
-## PSC_ANGLE_MAX: Position Control Angle Max
+## INS_TCALn_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
 
 *Note: This parameter is for advanced users*
 
-Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value
+This is the 1st order temperature coefficient from a temperature calibration
 
-- Units: deg
+- Calibration: 1
 
-- Range: 0 45
+## INS_TCALn_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
 
-- Increment: 1
+*Note: This parameter is for advanced users*
 
-## PSC_JERK_XY: Jerk limit for the horizontal kinematic input shaping
+This is the 2nd order temperature coefficient from a temperature calibration
 
-*Note: This parameter is for advanced users*
+- Calibration: 1
 
-Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target
+## INS_TCALn_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
 
-- Units: m/s/s/s
+*Note: This parameter is for advanced users*
 
-- Range: 1 20
+This is the 2nd order temperature coefficient from a temperature calibration
 
-- Increment: 1
+- Calibration: 1
 
-## PSC_JERK_Z: Jerk limit for the vertical kinematic input shaping
+## INS_TCALn_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
 
 *Note: This parameter is for advanced users*
 
-Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target
+This is the 2nd order temperature coefficient from a temperature calibration
 
-- Units: m/s/s/s
+- Calibration: 1
 
-- Range: 5 50
+## INS_TCALn_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
 
-- Increment: 1
+*Note: This parameter is for advanced users*
 
-# RC Parameters
+This is the 3rd order temperature coefficient from a temperature calibration
 
-## RC_OVERRIDE_TIME: RC override timeout
+- Calibration: 1
 
-*Note: This parameter is for advanced users*
+## INS_TCALn_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
 
-Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
+*Note: This parameter is for advanced users*
 
-- Range: 0.0 120.0
+This is the 3rd order temperature coefficient from a temperature calibration
 
-- Units: s
+- Calibration: 1
 
-## RC_OPTIONS: RC options
+## INS_TCALn_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
 
 *Note: This parameter is for advanced users*
 
-RC input options
+This is the 3rd order temperature coefficient from a temperature calibration
 
-- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection
+- Calibration: 1
 
-## RC_PROTOCOLS: RC protocols enabled
+## INS_TCALn_GYR1_X: Gyroscope 1st order temperature coefficient X axis
 
 *Note: This parameter is for advanced users*
 
-Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
-
-- Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2
+This is the 1st order temperature coefficient from a temperature calibration
 
-# RCn Parameters
+- Calibration: 1
 
-## RCn_MIN: RC min PWM
+## INS_TCALn_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
 
 *Note: This parameter is for advanced users*
 
-RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
-
-- Units: PWM
-
-- Range: 800 2200
+This is the 1st order temperature coefficient from a temperature calibration
 
-- Increment: 1
+- Calibration: 1
 
-## RCn_TRIM: RC trim PWM
+## INS_TCALn_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
 
 *Note: This parameter is for advanced users*
 
-RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
+This is the 1st order temperature coefficient from a temperature calibration
 
-- Units: PWM
+- Calibration: 1
 
-- Range: 800 2200
+## INS_TCALn_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
 
-- Increment: 1
+*Note: This parameter is for advanced users*
 
-## RCn_MAX: RC max PWM
+This is the 2nd order temperature coefficient from a temperature calibration
 
-*Note: This parameter is for advanced users*
+- Calibration: 1
 
-RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
+## INS_TCALn_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
 
-- Units: PWM
+*Note: This parameter is for advanced users*
 
-- Range: 800 2200
+This is the 2nd order temperature coefficient from a temperature calibration
 
-- Increment: 1
+- Calibration: 1
 
-## RCn_REVERSED: RC reversed
+## INS_TCALn_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
 
 *Note: This parameter is for advanced users*
 
-Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
+This is the 2nd order temperature coefficient from a temperature calibration
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Normal|
-|1|Reversed|
+- Calibration: 1
 
-## RCn_DZ: RC dead-zone
+## INS_TCALn_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
 
 *Note: This parameter is for advanced users*
 
-PWM dead zone in microseconds around trim or bottom
+This is the 3rd order temperature coefficient from a temperature calibration
 
-- Units: PWM
+- Calibration: 1
 
-- Range: 0 200
+## INS_TCALn_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
 
-# RELAY Parameters
+*Note: This parameter is for advanced users*
 
-## RELAY_PIN: First Relay Pin
+This is the 3rd order temperature coefficient from a temperature calibration
 
-Digital pin number for first relay control. This is the pin used for camera control.
+- Calibration: 1
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|49|BB Blue GP0 pin 4|
-|50|AUXOUT1|
-|51|AUXOUT2|
-|52|AUXOUT3|
-|53|AUXOUT4|
-|54|AUXOUT5|
-|55|AUXOUT6|
-|57|BB Blue GP0 pin 3|
-|113|BB Blue GP0 pin 6|
-|116|BB Blue GP0 pin 5|
-|27|BBBMini Pin P8.17|
+## INS_TCALn_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
 
-## RELAY_PIN2: Second Relay Pin
+*Note: This parameter is for advanced users*
 
-Digital pin number for 2nd relay control.
+This is the 3rd order temperature coefficient from a temperature calibration
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Disabled|
-|49|BB Blue GP0 pin 4|
-|50|AUXOUT1|
-|51|AUXOUT2|
-|52|AUXOUT3|
-|53|AUXOUT4|
-|54|AUXOUT5|
-|55|AUXOUT6|
-|57|BB Blue GP0 pin 3|
-|113|BB Blue GP0 pin 6|
-|116|BB Blue GP0 pin 5|
-|65|BBBMini Pin P8.18|
+- Calibration: 1
 
-## RELAY_PIN3: Third Relay Pin
+# LEAK Parameters
 
-Digital pin number for 3rd relay control.
+## LEAK1_PIN: Pin that leak detector is connected to
+
+Pin that the leak detector is connected to
 
 |Value|Meaning|
 |:---:|:---:|
 |-1|Disabled|
-|49|BB Blue GP0 pin 4|
-|50|AUXOUT1|
-|51|AUXOUT2|
-|52|AUXOUT3|
-|53|AUXOUT4|
-|54|AUXOUT5|
-|55|AUXOUT6|
-|57|BB Blue GP0 pin 3|
-|113|BB Blue GP0 pin 6|
-|116|BB Blue GP0 pin 5|
-|22|BBBMini Pin P8.19|
+|50|Pixhawk Aux1|
+|51|Pixhawk Aux2|
+|52|Pixhawk Aux3|
+|53|Pixhawk Aux4|
+|54|Pixhawk Aux5|
+|55|Pixhawk Aux6|
+|13|Pixhawk 3.3ADC1|
+|14|Pixhawk 3.3ADC2|
+|15|Pixhawk 6.6ADC|
+|27|Navigator Built-In|
 
-## RELAY_PIN4: Fourth Relay Pin
+- RebootRequired: True
 
-Digital pin number for 4th relay control.
+## LEAK1_LOGIC: Default reading of leak detector when dry
+
+Default reading of leak detector when dry
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Disabled|
-|49|BB Blue GP0 pin 4|
-|50|AUXOUT1|
-|51|AUXOUT2|
-|52|AUXOUT3|
-|53|AUXOUT4|
-|54|AUXOUT5|
-|55|AUXOUT6|
-|57|BB Blue GP0 pin 3|
-|113|BB Blue GP0 pin 6|
-|116|BB Blue GP0 pin 5|
-|63|BBBMini Pin P8.34|
+|0|Low|
+|1|High|
 
-## RELAY_DEFAULT: Default relay state
+## LEAK2_PIN: Pin that leak detector is connected to
 
-The state of the relay on boot.
+Pin that the leak detector is connected to
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Off|
-|1|On|
-|2|NoChange|
+|-1|Disabled|
+|50|Pixhawk Aux1|
+|51|Pixhawk Aux2|
+|52|Pixhawk Aux3|
+|53|Pixhawk Aux4|
+|54|Pixhawk Aux5|
+|55|Pixhawk Aux6|
+|13|Pixhawk 3.3ADC1|
+|14|Pixhawk 3.3ADC2|
+|15|Pixhawk 6.6ADC|
+|27|Navigator Leak1|
 
-## RELAY_PIN5: Fifth Relay Pin
+- RebootRequired: True
 
-Digital pin number for 5th relay control.
+## LEAK2_LOGIC: Default reading of leak detector when dry
+
+Default reading of leak detector when dry
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Disabled|
-|49|BB Blue GP0 pin 4|
-|50|AUXOUT1|
-|51|AUXOUT2|
-|52|AUXOUT3|
-|53|AUXOUT4|
-|54|AUXOUT5|
-|55|AUXOUT6|
-|57|BB Blue GP0 pin 3|
-|113|BB Blue GP0 pin 6|
-|116|BB Blue GP0 pin 5|
-|62|BBBMini Pin P8.13|
+|0|Low|
+|1|High|
 
-## RELAY_PIN6: Sixth Relay Pin
+## LEAK3_PIN: Pin that leak detector is connected to
 
-Digital pin number for 6th relay control.
+Pin that the leak detector is connected to
 
 |Value|Meaning|
 |:---:|:---:|
 |-1|Disabled|
-|49|BB Blue GP0 pin 4|
-|50|AUXOUT1|
-|51|AUXOUT2|
-|52|AUXOUT3|
-|53|AUXOUT4|
-|54|AUXOUT5|
-|55|AUXOUT6|
-|57|BB Blue GP0 pin 3|
-|113|BB Blue GP0 pin 6|
-|116|BB Blue GP0 pin 5|
-|37|BBBMini Pin P8.14|
+|50|Pixhawk Aux1|
+|51|Pixhawk Aux2|
+|52|Pixhawk Aux3|
+|53|Pixhawk Aux4|
+|54|Pixhawk Aux5|
+|55|Pixhawk Aux6|
+|13|Pixhawk 3.3ADC1|
+|14|Pixhawk 3.3ADC2|
+|15|Pixhawk 6.6ADC|
+|27|Navigator Leak1|
 
-# RNGFND1 Parameters
+- RebootRequired: True
 
-## RNGFND1_TYPE: Rangefinder type
+## LEAK3_LOGIC: Default reading of leak detector when dry
 
-What type of rangefinder device that is connected
+Default reading of leak detector when dry
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|1|Analog|
-|2|MaxbotixI2C|
-|3|LidarLite-I2C|
-|5|PWM|
-|6|BBB-PRU|
-|7|LightWareI2C|
-|8|LightWareSerial|
-|9|Bebop|
-|10|MAVLink|
-|11|uLanding|
-|12|LeddarOne|
-|13|MaxbotixSerial|
-|14|TeraRangerI2C|
-|15|LidarLiteV3-I2C|
-|16|VL53L0X or VL53L1X|
-|17|NMEA|
-|18|WASP-LRF|
-|19|BenewakeTF02|
-|20|Benewake-Serial|
-|21|LidarLightV3HP|
-|22|PWM|
-|23|BlueRoboticsPing|
-|24|UAVCAN|
-|25|BenewakeTFminiPlus-I2C|
-|26|LanbaoPSK-CM8JL65-CC5|
-|27|BenewakeTF03|
-|28|VL53L1X-ShortRange|
-|29|LeddarVu8-Serial|
-|30|HC-SR04|
-|31|GYUS42v2|
-|32|MSP|
-|33|USD1_CAN|
-|100|SITL|
+|0|Low|
+|1|High|
 
-## RNGFND1_PIN: Rangefinder pin
+# LOG Parameters
 
-Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
+## LOG_BACKEND_TYPE: AP_Logger Backend Storage type
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|11|PX4-airspeed port|
-|15|Pixhawk-airspeed port|
-|50|Pixhawk AUXOUT1|
-|51|Pixhawk AUXOUT2|
-|52|Pixhawk AUXOUT3|
-|53|Pixhawk AUXOUT4|
-|54|Pixhawk AUXOUT5|
-|55|Pixhawk AUXOUT6|
+Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.
+
+- Bitmask: 0:File,1:MAVLink,2:Block
 
-## RNGFND1_SCALING: Rangefinder scaling
+## LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)
 
-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.
+The File and Block backends use a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.
 
-- Units: m/V
+## LOG_DISARMED: Enable logging while disarmed
 
-- Increment: 0.001
+If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues
 
-## RNGFND1_OFFSET: rangefinder offset
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
+## LOG_REPLAY: Enable logging of information needed for Replay
 
-- Units: V
+If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost
 
-- Increment: 0.001
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-## RNGFND1_FUNCTION: Rangefinder function
+## LOG_FILE_DSRMROT: Stop logging to current file on disarm
 
-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.
+When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Linear|
-|1|Inverted|
-|2|Hyperbolic|
+|0|Disabled|
+|1|Enabled|
 
-## RNGFND1_MIN_CM: Rangefinder minimum distance
+## LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size
 
-Minimum distance in centimeters that rangefinder can reliably read
+*Note: This parameter is for advanced users*
 
-- Units: cm
+Maximum amount of memory to allocate to AP_Logger-over-mavlink
 
-- Increment: 1
+- Units: kB
 
-## RNGFND1_MAX_CM: Rangefinder maximum distance
+## LOG_FILE_TIMEOUT: Timeout before giving up on file writes
 
-Maximum distance in centimeters that rangefinder can reliably read
+This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.
 
-- Units: cm
+- Units: s
 
-- Increment: 1
+## LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space
 
-## RNGFND1_STOP_PIN: Rangefinder stop pin
+Set this such that the free space is larger than your largest typical flight log
 
-Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.
+- Units: MB
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|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|
+- Range: 10 1000
 
-## RNGFND1_RMETRIC: Ratiometric
+# LOIT Parameters
 
-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.
+## LOIT_ANG_MAX: Loiter Angle Max
 
-|Value|Meaning|
-|:---:|:---:|
-|0|No|
-|1|Yes|
+*Note: This parameter is for advanced users*
 
-## RNGFND1_PWRRNG: Powersave range
+Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX
 
-This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
+- Units: deg
 
-- Units: m
+- Range: 0 45
 
-- Range: 0 32767
+- Increment: 1
 
-## RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground
+## LOIT_SPEED: Loiter Horizontal Maximum Speed
 
-This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
+Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode
 
-- Units: cm
+- Units: cm/s
 
-- Range: 5 127
+- Range: 20 3500
+
+- Increment: 50
+
+## LOIT_ACC_MAX: Loiter maximum correction acceleration
+
+*Note: This parameter is for advanced users*
+
+Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively.
+
+- Units: cm/s/s
+
+- Range: 100 981
 
 - Increment: 1
 
-## RNGFND1_ADDR: Bus address of sensor
+## LOIT_BRK_ACCEL: Loiter braking acceleration
 
-This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
+*Note: This parameter is for advanced users*
 
-- Range: 0 127
+Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.
+
+- Units: cm/s/s
+
+- Range: 25 250
 
 - Increment: 1
 
-## RNGFND1_POS_X:  X position offset
+## LOIT_BRK_JERK: Loiter braking jerk
 
 *Note: This parameter is for advanced users*
 
-X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
+Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.
 
-- Units: m
+- Units: cm/s/s/s
 
-- Range: -5 5
+- Range: 500 5000
 
-- Increment: 0.01
+- Increment: 1
 
-## RNGFND1_POS_Y: Y position offset
+## LOIT_BRK_DELAY: Loiter brake start delay (in seconds)
 
 *Note: This parameter is for advanced users*
 
-Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
+Loiter brake start delay (in seconds)
 
-- Units: m
+- Units: s
 
-- Range: -5 5
+- Range: 0 2
 
-- Increment: 0.01
+- Increment: 0.1
+
+# MIS Parameters
 
-## RNGFND1_POS_Z: Z position offset
+## MIS_TOTAL: Total mission commands
 
 *Note: This parameter is for advanced users*
 
-Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
+The number of mission mission items that has been loaded by the ground station. Do not change this manually.
 
-- Units: m
+- Range: 0 32766
 
-- Range: -5 5
+- Increment: 1
 
-- Increment: 0.01
+- ReadOnly: True
 
-## RNGFND1_ORIENT: Rangefinder orientation
+## MIS_RESTART: Mission Restart when entering Auto mode
 
 *Note: This parameter is for advanced users*
 
-Orientation of rangefinder
+Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Forward|
-|1|Forward-Right|
-|2|Right|
-|3|Back-Right|
-|4|Back|
-|5|Back-Left|
-|6|Left|
-|7|Forward-Left|
-|24|Up|
-|25|Down|
+|0|Resume Mission|
+|1|Restart Mission|
 
-## RNGFND1_WSP_MAVG: Moving Average Range
+## MIS_OPTIONS: Mission options bitmask
 
 *Note: This parameter is for advanced users*
 
-Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
-
-- Range: 0 255
-
-## RNGFND1_WSP_MEDF: Moving Median Filter
+Bitmask of what options to use in missions.
 
-*Note: This parameter is for advanced users*
+- Bitmask: 0:Clear Mission on reboot
 
-Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
+# MNT Parameters
 
-- Range: 0 255
+## MNT_TYPE: Mount Type
 
-## RNGFND1_WSP_FRQ: Frequency
+Mount Type (None, Servo or MAVLink)
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|Servo|
+|2|3DR Solo|
+|3|Alexmos Serial|
+|4|SToRM32 MAVLink|
+|5|SToRM32 Serial|
 
-Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
+- RebootRequired: True
 
-- Range: 0 10000
+## MNT_DEFLT_MODE: Mount default operating mode
 
-## RNGFND1_WSP_AVG: Multi-pulse averages
+Mount default operating mode on startup and after control is returned from autopilot
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|0|Retracted|
+|1|Neutral|
+|2|MavLink Targeting|
+|3|RC Targeting|
+|4|GPS Point|
 
-Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
+## MNT_RETRACT_X: Mount roll angle when in retracted position
 
-- Range: 0 255
+Mount roll angle when in retracted position
 
-## RNGFND1_WSP_THR: Sensitivity threshold
+- Units: deg
 
-*Note: This parameter is for advanced users*
+- Range: -180.00 179.99
 
-Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
+- Increment: 1
 
-- Range: -1 255
+## MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position
 
-## RNGFND1_WSP_BAUD: Baud rate
+Mount tilt/pitch angle when in retracted position
 
-*Note: This parameter is for advanced users*
+- Units: deg
 
-Desired baud rate
+- Range: -180.00 179.99
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Low Speed|
-|1|High Speed|
+- Increment: 1
 
-# RNGFND2 Parameters
+## MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position
 
-## RNGFND2_TYPE: Rangefinder type
+Mount yaw/pan angle when in retracted position
 
-What type of rangefinder device that is connected
+- Units: deg
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Analog|
-|2|MaxbotixI2C|
-|3|LidarLite-I2C|
-|5|PWM|
-|6|BBB-PRU|
-|7|LightWareI2C|
-|8|LightWareSerial|
-|9|Bebop|
-|10|MAVLink|
-|11|uLanding|
-|12|LeddarOne|
-|13|MaxbotixSerial|
-|14|TeraRangerI2C|
-|15|LidarLiteV3-I2C|
-|16|VL53L0X or VL53L1X|
-|17|NMEA|
-|18|WASP-LRF|
-|19|BenewakeTF02|
-|20|Benewake-Serial|
-|21|LidarLightV3HP|
-|22|PWM|
-|23|BlueRoboticsPing|
-|24|UAVCAN|
-|25|BenewakeTFminiPlus-I2C|
-|26|LanbaoPSK-CM8JL65-CC5|
-|27|BenewakeTF03|
-|28|VL53L1X-ShortRange|
-|29|LeddarVu8-Serial|
-|30|HC-SR04|
-|31|GYUS42v2|
-|32|MSP|
-|33|USD1_CAN|
-|100|SITL|
+- Range: -180.00 179.99
 
-## RNGFND2_PIN: Rangefinder pin
+- Increment: 1
 
-Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
+## MNT_NEUTRAL_X: Mount roll angle when in neutral position
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|11|PX4-airspeed port|
-|15|Pixhawk-airspeed port|
-|50|Pixhawk AUXOUT1|
-|51|Pixhawk AUXOUT2|
-|52|Pixhawk AUXOUT3|
-|53|Pixhawk AUXOUT4|
-|54|Pixhawk AUXOUT5|
-|55|Pixhawk AUXOUT6|
+Mount roll angle when in neutral position
 
-## RNGFND2_SCALING: Rangefinder scaling
+- Units: deg
 
-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.
+- Range: -180.00 179.99
 
-- Units: m/V
+- Increment: 1
 
-- Increment: 0.001
+## MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position
 
-## RNGFND2_OFFSET: rangefinder offset
+Mount tilt/pitch angle when in neutral position
 
-Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
+- Units: deg
 
-- Units: V
+- Range: -180.00 179.99
 
-- Increment: 0.001
+- Increment: 1
 
-## RNGFND2_FUNCTION: Rangefinder function
+## MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position
 
-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.
+Mount pan/yaw angle when in neutral position
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Linear|
-|1|Inverted|
-|2|Hyperbolic|
+- Units: deg
 
-## RNGFND2_MIN_CM: Rangefinder minimum distance
+- Range: -180.00 179.99
 
-Minimum distance in centimeters that rangefinder can reliably read
+- Increment: 1
 
-- Units: cm
+## MNT_STAB_ROLL: Stabilize mount's roll angle
 
-- Increment: 1
+enable roll stabilisation relative to Earth
 
-## RNGFND2_MAX_CM: Rangefinder maximum distance
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-Maximum distance in centimeters that rangefinder can reliably read
+## MNT_STAB_TILT: Stabilize mount's pitch/tilt angle
 
-- Units: cm
+enable tilt/pitch stabilisation relative to Earth
 
-- Increment: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-## RNGFND2_STOP_PIN: Rangefinder stop pin
+## MNT_STAB_PAN: Stabilize mount pan/yaw angle
 
-Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.
+enable pan/yaw stabilisation relative to Earth
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Not Used|
-|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|
+|0|Disabled|
+|1|Enabled|
 
-## RNGFND2_RMETRIC: Ratiometric
+## MNT_RC_IN_ROLL: roll RC input channel
 
-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.
+0 for none, any other for the RC channel to be used to control roll movements
 
 |Value|Meaning|
 |:---:|:---:|
-|0|No|
-|1|Yes|
+|0|Disabled|
+|5|RC5|
+|6|RC6|
+|7|RC7|
+|8|RC8|
+|9|RC9|
+|10|RC10|
+|11|RC11|
+|12|RC12|
 
-## RNGFND2_PWRRNG: Powersave range
+## MNT_ANGMIN_ROL: Minimum roll angle
 
-This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
+Minimum physical roll angular position of mount.
 
-- Units: m
+- Units: cdeg
 
-- Range: 0 32767
+- Range: -18000 17999
+
+- Increment: 10
+
+## MNT_ANGMAX_ROL: Maximum roll angle
+
+Maximum physical roll angular position of the mount
+
+- Units: cdeg
+
+- Range: -18000 17999
+
+- Increment: 10
+
+## MNT_RC_IN_TILT: tilt (pitch) RC input channel
+
+0 for none, any other for the RC channel to be used to control tilt (pitch) movements
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|5|RC5|
+|6|RC6|
+|7|RC7|
+|8|RC8|
+|9|RC9|
+|10|RC10|
+|11|RC11|
+|12|RC12|
 
-## RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground
+## MNT_ANGMIN_TIL: Minimum tilt angle
 
-This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
+Minimum physical tilt (pitch) angular position of mount.
 
-- Units: cm
+- Units: cdeg
 
-- Range: 5 127
+- Range: -18000 17999
 
-- Increment: 1
+- Increment: 10
 
-## RNGFND2_ADDR: Bus address of sensor
+## MNT_ANGMAX_TIL: Maximum tilt angle
 
-This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
+Maximum physical tilt (pitch) angular position of the mount
 
-- Range: 0 127
+- Units: cdeg
 
-- Increment: 1
+- Range: -18000 17999
 
-## RNGFND2_POS_X:  X position offset
+- Increment: 10
 
-*Note: This parameter is for advanced users*
+## MNT_RC_IN_PAN: pan (yaw) RC input channel
 
-X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
+0 for none, any other for the RC channel to be used to control pan (yaw) movements
 
-- Units: m
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|5|RC5|
+|6|RC6|
+|7|RC7|
+|8|RC8|
+|9|RC9|
+|10|RC10|
+|11|RC11|
+|12|RC12|
 
-- Range: -5 5
+## MNT_ANGMIN_PAN: Minimum pan angle
 
-- Increment: 0.01
+Minimum physical pan (yaw) angular position of mount.
 
-## RNGFND2_POS_Y: Y position offset
+- Units: cdeg
 
-*Note: This parameter is for advanced users*
+- Range: -18000 17999
 
-Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
+- Increment: 10
 
-- Units: m
+## MNT_ANGMAX_PAN: Maximum pan angle
 
-- Range: -5 5
+Maximum physical pan (yaw) angular position of the mount
 
-- Increment: 0.01
+- Units: cdeg
 
-## RNGFND2_POS_Z: Z position offset
+- Range: -18000 17999
 
-*Note: This parameter is for advanced users*
+- Increment: 10
 
-Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
+## MNT_JSTICK_SPD: mount joystick speed
 
-- Units: m
+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.
 
-- Range: -5 5
+- Range: 0 100
 
-- Increment: 0.01
+- Increment: 1
 
-## RNGFND2_ORIENT: Rangefinder orientation
+## MNT_LEAD_RLL: Roll stabilization lead time
 
-*Note: This parameter is for advanced users*
+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.
 
-Orientation of rangefinder
+- Units: s
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Forward|
-|1|Forward-Right|
-|2|Right|
-|3|Back-Right|
-|4|Back|
-|5|Back-Left|
-|6|Left|
-|7|Forward-Left|
-|24|Up|
-|25|Down|
+- Range: 0.0 0.2
 
-## RNGFND2_WSP_MAVG: Moving Average Range
+- Increment: .005
 
-*Note: This parameter is for advanced users*
+## MNT_LEAD_PTCH: Pitch stabilization lead time
 
-Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
+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.
 
-- Range: 0 255
+- Units: s
 
-## RNGFND2_WSP_MEDF: Moving Median Filter
+- Range: 0.0 0.2
 
-*Note: This parameter is for advanced users*
+- Increment: .005
 
-Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
+## MNT2_DEFLT_MODE: Mount default operating mode
 
-- Range: 0 255
+Mount default operating mode on startup and after control is returned from autopilot
 
-## RNGFND2_WSP_FRQ: Frequency
+|Value|Meaning|
+|:---:|:---:|
+|0|Retracted|
+|1|Neutral|
+|2|MavLink Targeting|
+|3|RC Targeting|
+|4|GPS Point|
 
-*Note: This parameter is for advanced users*
+## MNT2_RETRACT_X: Mount2 roll angle when in retracted position
 
-Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
+Mount2 roll angle when in retracted position
 
-- Range: 0 10000
+- Units: deg
 
-## RNGFND2_WSP_AVG: Multi-pulse averages
+- Range: -180.00 179.99
 
-*Note: This parameter is for advanced users*
+- Increment: 1
 
-Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
+## MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position
 
-- Range: 0 255
+Mount2 tilt/pitch angle when in retracted position
 
-## RNGFND2_WSP_THR: Sensitivity threshold
+- Units: deg
 
-*Note: This parameter is for advanced users*
+- Range: -180.00 179.99
 
-Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
+- Increment: 1
 
-- Range: -1 255
+## MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position
 
-## RNGFND2_WSP_BAUD: Baud rate
+Mount2 yaw/pan angle when in retracted position
 
-*Note: This parameter is for advanced users*
+- Units: deg
 
-Desired baud rate
+- Range: -180.00 179.99
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Low Speed|
-|1|High Speed|
+- Increment: 1
 
-# RNGFND3 Parameters
+## MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position
 
-## RNGFND3_TYPE: Rangefinder type
+Mount2 roll angle when in neutral position
 
-What type of rangefinder device that is connected
+- Units: deg
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Analog|
-|2|MaxbotixI2C|
-|3|LidarLite-I2C|
-|5|PWM|
-|6|BBB-PRU|
-|7|LightWareI2C|
-|8|LightWareSerial|
-|9|Bebop|
-|10|MAVLink|
-|11|uLanding|
-|12|LeddarOne|
-|13|MaxbotixSerial|
-|14|TeraRangerI2C|
-|15|LidarLiteV3-I2C|
-|16|VL53L0X or VL53L1X|
-|17|NMEA|
-|18|WASP-LRF|
-|19|BenewakeTF02|
-|20|Benewake-Serial|
-|21|LidarLightV3HP|
-|22|PWM|
-|23|BlueRoboticsPing|
-|24|UAVCAN|
-|25|BenewakeTFminiPlus-I2C|
-|26|LanbaoPSK-CM8JL65-CC5|
-|27|BenewakeTF03|
-|28|VL53L1X-ShortRange|
-|29|LeddarVu8-Serial|
-|30|HC-SR04|
-|31|GYUS42v2|
-|32|MSP|
-|33|USD1_CAN|
-|100|SITL|
+- Range: -180.00 179.99
 
-## RNGFND3_PIN: Rangefinder pin
+- Increment: 1
 
-Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
+## MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|11|PX4-airspeed port|
-|15|Pixhawk-airspeed port|
-|50|Pixhawk AUXOUT1|
-|51|Pixhawk AUXOUT2|
-|52|Pixhawk AUXOUT3|
-|53|Pixhawk AUXOUT4|
-|54|Pixhawk AUXOUT5|
-|55|Pixhawk AUXOUT6|
+Mount2 tilt/pitch angle when in neutral position
 
-## RNGFND3_SCALING: Rangefinder scaling
+- Units: deg
 
-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.
+- Range: -180.00 179.99
 
-- Units: m/V
+- Increment: 1
 
-- Increment: 0.001
+## MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position
 
-## RNGFND3_OFFSET: rangefinder offset
+Mount2 pan/yaw angle when in neutral position
 
-Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
+- Units: deg
 
-- Units: V
+- Range: -180.00 179.99
 
-- Increment: 0.001
+- Increment: 1
 
-## RNGFND3_FUNCTION: Rangefinder function
+## MNT2_STAB_ROLL: Stabilize Mount2's roll angle
 
-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.
+enable roll stabilisation relative to Earth
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Linear|
-|1|Inverted|
-|2|Hyperbolic|
-
-## RNGFND3_MIN_CM: Rangefinder minimum distance
-
-Minimum distance in centimeters that rangefinder can reliably read
-
-- Units: cm
-
-- Increment: 1
-
-## RNGFND3_MAX_CM: Rangefinder maximum distance
+|0|Disabled|
+|1|Enabled|
 
-Maximum distance in centimeters that rangefinder can reliably read
+## MNT2_STAB_TILT: Stabilize Mount2's pitch/tilt angle
 
-- Units: cm
+enable tilt/pitch stabilisation relative to Earth
 
-- Increment: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
 
-## RNGFND3_STOP_PIN: Rangefinder stop pin
+## MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle
 
-Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.
+enable pan/yaw stabilisation relative to Earth
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Not Used|
-|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|
+|0|Disabled|
+|1|Enabled|
 
-## RNGFND3_RMETRIC: Ratiometric
+## MNT2_RC_IN_ROLL: Mount2's roll RC input channel
 
-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.
+0 for none, any other for the RC channel to be used to control roll movements
 
 |Value|Meaning|
 |:---:|:---:|
-|0|No|
-|1|Yes|
+|0|Disabled|
+|5|RC5|
+|6|RC6|
+|7|RC7|
+|8|RC8|
+|9|RC9|
+|10|RC10|
+|11|RC11|
+|12|RC12|
 
-## RNGFND3_PWRRNG: Powersave range
+## MNT2_ANGMIN_ROL: Mount2's minimum roll angle
 
-This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
+Mount2's minimum physical roll angular position
 
-- Units: m
+- Units: cdeg
 
-- Range: 0 32767
+- Range: -18000 17999
 
-## RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground
+- Increment: 10
 
-This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
+## MNT2_ANGMAX_ROL: Mount2's maximum roll angle
 
-- Units: cm
+Mount2's maximum physical roll angular position
 
-- Range: 5 127
+- Units: cdeg
 
-- Increment: 1
+- Range: -18000 17999
 
-## RNGFND3_ADDR: Bus address of sensor
+- Increment: 10
 
-This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
+## MNT2_RC_IN_TILT: Mount2's tilt (pitch) RC input channel
 
-- Range: 0 127
+0 for none, any other for the RC channel to be used to control tilt (pitch) movements
 
-- Increment: 1
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|5|RC5|
+|6|RC6|
+|7|RC7|
+|8|RC8|
+|9|RC9|
+|10|RC10|
+|11|RC11|
+|12|RC12|
 
-## RNGFND3_POS_X:  X position offset
+## MNT2_ANGMIN_TIL: Mount2's minimum tilt angle
 
-*Note: This parameter is for advanced users*
+Mount2's minimum physical tilt (pitch) angular position
 
-X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
+- Units: cdeg
 
-- Units: m
+- Range: -18000 17999
 
-- Range: -5 5
+- Increment: 10
 
-- Increment: 0.01
+## MNT2_ANGMAX_TIL: Mount2's maximum tilt angle
 
-## RNGFND3_POS_Y: Y position offset
+Mount2's maximum physical tilt (pitch) angular position
 
-*Note: This parameter is for advanced users*
+- Units: cdeg
 
-Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
+- Range: -18000 17999
 
-- Units: m
+- Increment: 10
 
-- Range: -5 5
+## MNT2_RC_IN_PAN: Mount2's pan (yaw) RC input channel
 
-- Increment: 0.01
+0 for none, any other for the RC channel to be used to control pan (yaw) movements
 
-## RNGFND3_POS_Z: Z position offset
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|5|RC5|
+|6|RC6|
+|7|RC7|
+|8|RC8|
+|9|RC9|
+|10|RC10|
+|11|RC11|
+|12|RC12|
 
-*Note: This parameter is for advanced users*
+## MNT2_ANGMIN_PAN: Mount2's minimum pan angle
 
-Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
+Mount2's minimum physical pan (yaw) angular position
 
-- Units: m
+- Units: cdeg
 
-- Range: -5 5
+- Range: -18000 17999
 
-- Increment: 0.01
+- Increment: 10
 
-## RNGFND3_ORIENT: Rangefinder orientation
+## MNT2_ANGMAX_PAN: Mount2's maximum pan angle
 
-*Note: This parameter is for advanced users*
+MOunt2's maximum physical pan (yaw) angular position
 
-Orientation of rangefinder
+- Units: cdeg
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Forward|
-|1|Forward-Right|
-|2|Right|
-|3|Back-Right|
-|4|Back|
-|5|Back-Left|
-|6|Left|
-|7|Forward-Left|
-|24|Up|
-|25|Down|
+- Range: -18000 17999
 
-## RNGFND3_WSP_MAVG: Moving Average Range
+- Increment: 10
 
-*Note: This parameter is for advanced users*
+## MNT2_LEAD_RLL: Mount2's Roll stabilization lead time
 
-Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
+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.
 
-- Range: 0 255
+- Units: s
 
-## RNGFND3_WSP_MEDF: Moving Median Filter
+- Range: 0.0 0.2
 
-*Note: This parameter is for advanced users*
+- Increment: .005
 
-Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
+## MNT2_LEAD_PTCH: Mount2's Pitch stabilization lead time
 
-- Range: 0 255
+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.
 
-## RNGFND3_WSP_FRQ: Frequency
+- Units: s
 
-*Note: This parameter is for advanced users*
+- Range: 0.0 0.2
 
-Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
+- Increment: .005
 
-- Range: 0 10000
+## MNT2_TYPE: Mount2 Type
 
-## RNGFND3_WSP_AVG: Multi-pulse averages
+Mount Type (None, Servo or MAVLink)
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|Servo|
+|2|3DR Solo|
+|3|Alexmos Serial|
+|4|SToRM32 MAVLink|
+|5|SToRM32 Serial|
 
-Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
+# MOT Parameters
 
-- Range: 0 255
+## MOT_1_DIRECTION: Motor normal or reverse
 
-## RNGFND3_WSP_THR: Sensitivity threshold
+Used to change motor rotation directions without changing wires
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|1|normal|
+|-1|reverse|
 
-Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
+## MOT_2_DIRECTION: Motor normal or reverse
 
-- Range: -1 255
+Used to change motor rotation directions without changing wires
 
-## RNGFND3_WSP_BAUD: Baud rate
+|Value|Meaning|
+|:---:|:---:|
+|1|normal|
+|-1|reverse|
 
-*Note: This parameter is for advanced users*
+## MOT_3_DIRECTION: Motor normal or reverse
 
-Desired baud rate
+Used to change motor rotation directions without changing wires
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Low Speed|
-|1|High Speed|
-
-# RNGFND4 Parameters
+|1|normal|
+|-1|reverse|
 
-## RNGFND4_TYPE: Rangefinder type
+## MOT_4_DIRECTION: Motor normal or reverse
 
-What type of rangefinder device that is connected
+Used to change motor rotation directions without changing wires
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|1|Analog|
-|2|MaxbotixI2C|
-|3|LidarLite-I2C|
-|5|PWM|
-|6|BBB-PRU|
-|7|LightWareI2C|
-|8|LightWareSerial|
-|9|Bebop|
-|10|MAVLink|
-|11|uLanding|
-|12|LeddarOne|
-|13|MaxbotixSerial|
-|14|TeraRangerI2C|
-|15|LidarLiteV3-I2C|
-|16|VL53L0X or VL53L1X|
-|17|NMEA|
-|18|WASP-LRF|
-|19|BenewakeTF02|
-|20|Benewake-Serial|
-|21|LidarLightV3HP|
-|22|PWM|
-|23|BlueRoboticsPing|
-|24|UAVCAN|
-|25|BenewakeTFminiPlus-I2C|
-|26|LanbaoPSK-CM8JL65-CC5|
-|27|BenewakeTF03|
-|28|VL53L1X-ShortRange|
-|29|LeddarVu8-Serial|
-|30|HC-SR04|
-|31|GYUS42v2|
-|32|MSP|
-|33|USD1_CAN|
-|100|SITL|
+|1|normal|
+|-1|reverse|
 
-## RNGFND4_PIN: Rangefinder pin
+## MOT_5_DIRECTION: Motor normal or reverse
 
-Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
+Used to change motor rotation directions without changing wires
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Not Used|
-|11|PX4-airspeed port|
-|15|Pixhawk-airspeed port|
-|50|Pixhawk AUXOUT1|
-|51|Pixhawk AUXOUT2|
-|52|Pixhawk AUXOUT3|
-|53|Pixhawk AUXOUT4|
-|54|Pixhawk AUXOUT5|
-|55|Pixhawk AUXOUT6|
-
-## RNGFND4_SCALING: Rangefinder scaling
-
-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.
+|1|normal|
+|-1|reverse|
 
-- Units: m/V
+## MOT_6_DIRECTION: Motor normal or reverse
 
-- Increment: 0.001
+Used to change motor rotation directions without changing wires
 
-## RNGFND4_OFFSET: rangefinder offset
+|Value|Meaning|
+|:---:|:---:|
+|1|normal|
+|-1|reverse|
 
-Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
+## MOT_7_DIRECTION: Motor normal or reverse
 
-- Units: V
+Used to change motor rotation directions without changing wires
 
-- Increment: 0.001
+|Value|Meaning|
+|:---:|:---:|
+|1|normal|
+|-1|reverse|
 
-## RNGFND4_FUNCTION: Rangefinder function
+## MOT_8_DIRECTION: Motor normal or reverse
 
-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.
+Used to change motor rotation directions without changing wires
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Linear|
-|1|Inverted|
-|2|Hyperbolic|
+|1|normal|
+|-1|reverse|
 
-## RNGFND4_MIN_CM: Rangefinder minimum distance
+## MOT_FV_CPLNG_K: Forward/vertical to pitch decoupling factor
 
-Minimum distance in centimeters that rangefinder can reliably read
+Used to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal
 
-- Units: cm
+- Range: 0.0 1.5
 
-- Increment: 1
+- Increment: 0.1
+
+## MOT_9_DIRECTION: Motor normal or reverse
 
-## RNGFND4_MAX_CM: Rangefinder maximum distance
+Used to change motor rotation directions without changing wires
 
-Maximum distance in centimeters that rangefinder can reliably read
+|Value|Meaning|
+|:---:|:---:|
+|1|normal|
+|-1|reverse|
+
+## MOT_10_DIRECTION: Motor normal or reverse
 
-- Units: cm
+Used to change motor rotation directions without changing wires
 
-- Increment: 1
+|Value|Meaning|
+|:---:|:---:|
+|1|normal|
+|-1|reverse|
 
-## RNGFND4_STOP_PIN: Rangefinder stop pin
+## MOT_11_DIRECTION: Motor normal or reverse
 
-Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.
+Used to change motor rotation directions without changing wires
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Not Used|
-|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|
+|1|normal|
+|-1|reverse|
 
-## RNGFND4_RMETRIC: Ratiometric
+## MOT_12_DIRECTION: Motor normal or reverse
 
-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.
+Used to change motor rotation directions without changing wires
 
 |Value|Meaning|
 |:---:|:---:|
-|0|No|
-|1|Yes|
+|1|normal|
+|-1|reverse|
 
-## RNGFND4_PWRRNG: Powersave range
+## MOT_YAW_HEADROOM: Matrix Yaw Min
 
-This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
+*Note: This parameter is for advanced users*
 
-- Units: m
+Yaw control is given at least this pwm in microseconds range
 
-- Range: 0 32767
+- Range: 0 500
 
-## RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground
+- Units: PWM
 
-This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
+## MOT_THST_EXPO: Thrust Curve Expo
 
-- Units: cm
+*Note: This parameter is for advanced users*
 
-- Range: 5 127
+Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
 
-- Increment: 1
+- Range: -1.0 1.0
 
-## RNGFND4_ADDR: Bus address of sensor
+## MOT_SPIN_MAX: Motor Spin maximum
 
-This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
+*Note: This parameter is for advanced users*
 
-- Range: 0 127
+Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
 
-- Increment: 1
+- Values: 0.9:Low,0.95:Default,1.0:High
 
-## RNGFND4_POS_X:  X position offset
+## MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage
 
 *Note: This parameter is for advanced users*
 
-X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
-
-- Units: m
+Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.2 * cell count, 0 = Disabled
 
-- Range: -5 5
+- Range: 6 53
 
-- Increment: 0.01
+- Units: V
 
-## RNGFND4_POS_Y: Y position offset
+## MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage
 
 *Note: This parameter is for advanced users*
 
-Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
-
-- Units: m
+Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.3 * cell count, 0 = Disabled
 
-- Range: -5 5
+- Range: 6 42
 
-- Increment: 0.01
+- Units: V
 
-## RNGFND4_POS_Z: Z position offset
+## MOT_BAT_CURR_MAX: Motor Current Max
 
 *Note: This parameter is for advanced users*
 
-Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
-
-- Units: m
+Maximum current over which maximum throttle is limited (0 = Disabled)
 
-- Range: -5 5
+- Range: 0 200
 
-- Increment: 0.01
+- Units: A
 
-## RNGFND4_ORIENT: Rangefinder orientation
+## MOT_PWM_TYPE: Output PWM type
 
 *Note: This parameter is for advanced users*
 
-Orientation of rangefinder
+This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Forward|
-|1|Forward-Right|
-|2|Right|
-|3|Back-Right|
-|4|Back|
-|5|Back-Left|
-|6|Left|
-|7|Forward-Left|
-|24|Up|
-|25|Down|
+|0|Normal|
+|1|OneShot|
+|2|OneShot125|
+|3|Brushed|
+|4|DShot150|
+|5|DShot300|
+|6|DShot600|
+|7|DShot1200|
 
-## RNGFND4_WSP_MAVG: Moving Average Range
+- RebootRequired: True
+
+## MOT_PWM_MIN: PWM output minimum
 
 *Note: This parameter is for advanced users*
 
-Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
+This sets the min PWM output value in microseconds that will ever be output to the motors
 
-- Range: 0 255
+- Units: PWM
+
+- Range: 0 2000
 
-## RNGFND4_WSP_MEDF: Moving Median Filter
+## MOT_PWM_MAX: PWM output maximum
 
 *Note: This parameter is for advanced users*
 
-Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
+This sets the max PWM value in microseconds that will ever be output to the motors
 
-- Range: 0 255
+- Units: PWM
+
+- Range: 0 2000
 
-## RNGFND4_WSP_FRQ: Frequency
+## MOT_SPIN_MIN: Motor Spin minimum
 
 *Note: This parameter is for advanced users*
 
-Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
+Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM.
 
-- Range: 0 10000
+- Values: 0.0:Low,0.15:Default,0.3:High
 
-## RNGFND4_WSP_AVG: Multi-pulse averages
+## MOT_SPIN_ARM: Motor Spin armed
 
 *Note: This parameter is for advanced users*
 
-Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
+Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN.
 
-- Range: 0 255
+- Values: 0.0:Low,0.1:Default,0.2:High
 
-## RNGFND4_WSP_THR: Sensitivity threshold
+## MOT_BAT_CURR_TC: Motor Current Max Time Constant
 
 *Note: This parameter is for advanced users*
 
-Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
+Time constant used to limit the maximum current
 
-- Range: -1 255
+- Range: 0 10
+
+- Units: s
 
-## RNGFND4_WSP_BAUD: Baud rate
+## MOT_THST_HOVER: Thrust Hover Value
 
 *Note: This parameter is for advanced users*
 
-Desired baud rate
+Motor thrust needed to hover expressed as a number from 0 to 1
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Low Speed|
-|1|High Speed|
+- Range: 0.2 0.8
 
-# RNGFND5 Parameters
+## MOT_HOVER_LEARN: Hover Value Learning
 
-## RNGFND5_TYPE: Rangefinder type
+*Note: This parameter is for advanced users*
 
-What type of rangefinder device that is connected
+Enable/Disable automatic learning of hover throttle
 
 |Value|Meaning|
 |:---:|:---:|
-|0|None|
-|1|Analog|
-|2|MaxbotixI2C|
-|3|LidarLite-I2C|
-|5|PWM|
-|6|BBB-PRU|
-|7|LightWareI2C|
-|8|LightWareSerial|
-|9|Bebop|
-|10|MAVLink|
-|11|uLanding|
-|12|LeddarOne|
-|13|MaxbotixSerial|
-|14|TeraRangerI2C|
-|15|LidarLiteV3-I2C|
-|16|VL53L0X or VL53L1X|
-|17|NMEA|
-|18|WASP-LRF|
-|19|BenewakeTF02|
-|20|Benewake-Serial|
-|21|LidarLightV3HP|
-|22|PWM|
-|23|BlueRoboticsPing|
-|24|UAVCAN|
-|25|BenewakeTFminiPlus-I2C|
-|26|LanbaoPSK-CM8JL65-CC5|
-|27|BenewakeTF03|
-|28|VL53L1X-ShortRange|
-|29|LeddarVu8-Serial|
-|30|HC-SR04|
-|31|GYUS42v2|
-|32|MSP|
-|33|USD1_CAN|
-|100|SITL|
+|0|Disabled|
 
-## RNGFND5_PIN: Rangefinder pin
+## MOT_SAFE_DISARM: Motor PWM output disabled when disarmed
 
-Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
+*Note: This parameter is for advanced users*
+
+Disables motor PWM output when disarmed
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Not Used|
-|11|PX4-airspeed port|
-|15|Pixhawk-airspeed port|
-|50|Pixhawk AUXOUT1|
-|51|Pixhawk AUXOUT2|
-|52|Pixhawk AUXOUT3|
-|53|Pixhawk AUXOUT4|
-|54|Pixhawk AUXOUT5|
-|55|Pixhawk AUXOUT6|
-
-## RNGFND5_SCALING: Rangefinder scaling
-
-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.
-
-- Units: m/V
-
-- Increment: 0.001
-
-## RNGFND5_OFFSET: rangefinder offset
-
-Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
+|0|PWM enabled while disarmed|
+|1|PWM disabled while disarmed|
 
-- Units: V
+## MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle
 
-- Increment: 0.001
+Yaw servo's maximum lean angle
 
-## RNGFND5_FUNCTION: Rangefinder function
+- Range: 5 80
 
-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.
+- Units: deg
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Linear|
-|1|Inverted|
-|2|Hyperbolic|
+- Increment: 1
 
-## RNGFND5_MIN_CM: Rangefinder minimum distance
+## MOT_SPOOL_TIME: Spool up time
 
-Minimum distance in centimeters that rangefinder can reliably read
+*Note: This parameter is for advanced users*
 
-- Units: cm
+Time in seconds to spool up the motors from zero to min throttle. 
 
-- Increment: 1
+- Range: 0 2
 
-## RNGFND5_MAX_CM: Rangefinder maximum distance
+- Units: s
 
-Maximum distance in centimeters that rangefinder can reliably read
+- Increment: 0.1
 
-- Units: cm
+## MOT_BOOST_SCALE: Motor boost scale
 
-- Increment: 1
+*Note: This parameter is for advanced users*
 
-## RNGFND5_STOP_PIN: Rangefinder stop pin
+Booster motor output scaling factor vs main throttle.  The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.
 
-Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.
+- Range: 0 5
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|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|
+- Increment: 0.1
 
-## RNGFND5_RMETRIC: Ratiometric
+## MOT_BAT_IDX: Battery compensation index
 
-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.
+*Note: This parameter is for advanced users*
+
+Which battery monitor should be used for doing compensation
 
 |Value|Meaning|
 |:---:|:---:|
-|0|No|
-|1|Yes|
-
-## RNGFND5_PWRRNG: Powersave range
+|0|First battery|
+|1|Second battery|
 
-This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
+## MOT_SLEW_UP_TIME: Output slew time for increasing throttle
 
-- Units: m
+*Note: This parameter is for advanced users*
 
-- Range: 0 32767
+Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
 
-## RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground
+- Range: 0 .5
 
-This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
+- Units: s
 
-- Units: cm
+- Increment: 0.001
 
-- Range: 5 127
+## MOT_SLEW_DN_TIME: Output slew time for decreasing throttle
 
-- Increment: 1
+*Note: This parameter is for advanced users*
 
-## RNGFND5_ADDR: Bus address of sensor
+Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change.  Range is constrained between 0 and 0.5.
 
-This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
+- Range: 0 .5
 
-- Range: 0 127
+- Units: s
 
-- Increment: 1
+- Increment: 0.001
 
-## RNGFND5_POS_X:  X position offset
+## MOT_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed.
 
 *Note: This parameter is for advanced users*
 
-X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
+Time taken to disable and enable the motor PWM output when disarmed and armed.
 
-- Units: m
+- Range: 0 5
 
-- Range: -5 5
+- Units: s
 
-- Increment: 0.01
+- Increment: 0.001
 
-## RNGFND5_POS_Y: Y position offset
+# MSP Parameters
 
-*Note: This parameter is for advanced users*
+## MSP_OSD_NCELLS: Cell count override
 
-Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
+Used for average cell voltage calculation
 
-- Units: m
+|Value|Meaning|
+|:---:|:---:|
+|0|Auto|
+|1|1|
+|2|2|
+|3|3|
+|4|4|
+|5|5|
+|6|6|
+|7|7|
+|8|8|
+|9|9|
+|10|10|
+|11|11|
+|12|12|
+|13|13|
+|14|14|
 
-- Range: -5 5
+## MSP_OPTIONS: MSP OSD Options
 
-- Increment: 0.01
+A bitmask to set some MSP specific options
 
-## RNGFND5_POS_Z: Z position offset
+- Bitmask: 0:EnableTelemetryMode
 
-*Note: This parameter is for advanced users*
+# NTF Parameters
 
-Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
+## NTF_LED_BRIGHT: LED Brightness
 
-- Units: m
+*Note: This parameter is for advanced users*
 
-- Range: -5 5
+Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
 
-- Increment: 0.01
+|Value|Meaning|
+|:---:|:---:|
+|0|Off|
+|1|Low|
+|2|Medium|
+|3|High|
 
-## RNGFND5_ORIENT: Rangefinder orientation
+## NTF_BUZZ_TYPES: Buzzer Driver Types
 
 *Note: This parameter is for advanced users*
 
-Orientation of rangefinder
+Controls what types of Buzzer will be enabled
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Forward|
-|1|Forward-Right|
-|2|Right|
-|3|Back-Right|
-|4|Back|
-|5|Back-Left|
-|6|Left|
-|7|Forward-Left|
-|24|Up|
-|25|Down|
+- Bitmask: 0:Built-in buzzer, 1:DShot, 2:UAVCAN
 
-## RNGFND5_WSP_MAVG: Moving Average Range
+## NTF_LED_OVERRIDE: Specifies colour source for the RGBLed
 
 *Note: This parameter is for advanced users*
 
-Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
+Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
 
-- Range: 0 255
+|Value|Meaning|
+|:---:|:---:|
+|0|Standard|
+|1|MAVLink/Scripting/AP_Periph|
+|2|OutbackChallenge|
+|3|TrafficLight|
 
-## RNGFND5_WSP_MEDF: Moving Median Filter
+## NTF_DISPLAY_TYPE: Type of on-board I2C display
 
 *Note: This parameter is for advanced users*
 
-Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
+This sets up the type of on-board I2C display. Disabled by default.
 
-- Range: 0 255
+|Value|Meaning|
+|:---:|:---:|
+|0|Disable|
+|1|ssd1306|
+|2|sh1106|
+|10|SITL|
 
-## RNGFND5_WSP_FRQ: Frequency
+## NTF_OREO_THEME: OreoLED Theme
 
 *Note: This parameter is for advanced users*
 
-Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
+Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
 
-- Range: 0 10000
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Aircraft|
+|2|Rover|
 
-## RNGFND5_WSP_AVG: Multi-pulse averages
+## NTF_BUZZ_PIN: Buzzer pin
 
 *Note: This parameter is for advanced users*
 
-Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
+Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!
 
-- Range: 0 255
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
 
-## RNGFND5_WSP_THR: Sensitivity threshold
+## NTF_LED_TYPES: LED Driver Types
 
 *Note: This parameter is for advanced users*
 
-Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
+Controls what types of LEDs will be enabled
 
-- Range: -1 255
+- Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot
 
-## RNGFND5_WSP_BAUD: Baud rate
+## NTF_BUZZ_ON_LVL: Buzzer-on pin logic level
 
 *Note: This parameter is for advanced users*
 
-Desired baud rate
+Specifies pin level that indicates buzzer should play
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Low Speed|
-|1|High Speed|
+|0|LowIsOn|
+|1|HighIsOn|
 
-# RNGFND6 Parameters
+## NTF_BUZZ_VOLUME: Buzzer volume
 
-## RNGFND6_TYPE: Rangefinder type
+Control the volume of the buzzer
 
-What type of rangefinder device that is connected
+- Range: 0 100
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Analog|
-|2|MaxbotixI2C|
-|3|LidarLite-I2C|
-|5|PWM|
-|6|BBB-PRU|
-|7|LightWareI2C|
-|8|LightWareSerial|
-|9|Bebop|
-|10|MAVLink|
-|11|uLanding|
-|12|LeddarOne|
-|13|MaxbotixSerial|
-|14|TeraRangerI2C|
-|15|LidarLiteV3-I2C|
-|16|VL53L0X or VL53L1X|
-|17|NMEA|
-|18|WASP-LRF|
-|19|BenewakeTF02|
-|20|Benewake-Serial|
-|21|LidarLightV3HP|
-|22|PWM|
-|23|BlueRoboticsPing|
-|24|UAVCAN|
-|25|BenewakeTFminiPlus-I2C|
-|26|LanbaoPSK-CM8JL65-CC5|
-|27|BenewakeTF03|
-|28|VL53L1X-ShortRange|
-|29|LeddarVu8-Serial|
-|30|HC-SR04|
-|31|GYUS42v2|
-|32|MSP|
-|33|USD1_CAN|
-|100|SITL|
+- Units: %
 
-## RNGFND6_PIN: Rangefinder pin
+## NTF_LED_LEN: Serial LED String Length
 
-Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
+*Note: This parameter is for advanced users*
+
+The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
+
+- Range: 1 32
+
+- RebootRequired: True
+
+# PRX Parameters
+
+## PRX_TYPE: Proximity type
+
+What type of proximity sensor is connected
 
 |Value|Meaning|
 |:---:|:---:|
-|-1|Not Used|
-|11|PX4-airspeed port|
-|15|Pixhawk-airspeed port|
-|50|Pixhawk AUXOUT1|
-|51|Pixhawk AUXOUT2|
-|52|Pixhawk AUXOUT3|
-|53|Pixhawk AUXOUT4|
-|54|Pixhawk AUXOUT5|
-|55|Pixhawk AUXOUT6|
+|0|None|
+|7|LightwareSF40c|
+|1|LightWareSF40C-legacy|
+|2|MAVLink|
+|3|TeraRangerTower|
+|4|RangeFinder|
+|5|RPLidarA2|
+|6|TeraRangerTowerEvo|
+|8|LightwareSF45B|
+|10|SITL|
+|12|AirSimSITL|
 
-## RNGFND6_SCALING: Rangefinder scaling
+- RebootRequired: True
 
-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.
+## PRX_ORIENT: Proximity sensor orientation
 
-- Units: m/V
+Proximity sensor orientation
 
-- Increment: 0.001
+|Value|Meaning|
+|:---:|:---:|
+|0|Default|
+|1|Upside Down|
 
-## RNGFND6_OFFSET: rangefinder offset
+## PRX_YAW_CORR: Proximity sensor yaw correction
 
-Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
+Proximity sensor yaw correction
 
-- Units: V
+- Units: deg
 
-- Increment: 0.001
+- Range: -180 180
 
-## RNGFND6_FUNCTION: Rangefinder function
+## PRX_IGN_ANG1: Proximity sensor ignore angle 1
 
-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.
+Proximity sensor ignore angle 1
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Linear|
-|1|Inverted|
-|2|Hyperbolic|
+- Units: deg
 
-## RNGFND6_MIN_CM: Rangefinder minimum distance
+- Range: 0 360
 
-Minimum distance in centimeters that rangefinder can reliably read
+## PRX_IGN_WID1: Proximity sensor ignore width 1
 
-- Units: cm
+Proximity sensor ignore width 1
 
-- Increment: 1
+- Units: deg
 
-## RNGFND6_MAX_CM: Rangefinder maximum distance
+- Range: 0 127
 
-Maximum distance in centimeters that rangefinder can reliably read
+## PRX_IGN_ANG2: Proximity sensor ignore angle 2
 
-- Units: cm
+Proximity sensor ignore angle 2
 
-- Increment: 1
+- Units: deg
 
-## RNGFND6_STOP_PIN: Rangefinder stop pin
+- Range: 0 360
 
-Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.
+## PRX_IGN_WID2: Proximity sensor ignore width 2
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|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|
+Proximity sensor ignore width 2
 
-## RNGFND6_RMETRIC: Ratiometric
+- Units: deg
 
-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.
+- Range: 0 127
 
-|Value|Meaning|
-|:---:|:---:|
-|0|No|
-|1|Yes|
+## PRX_IGN_ANG3: Proximity sensor ignore angle 3
 
-## RNGFND6_PWRRNG: Powersave range
+Proximity sensor ignore angle 3
 
-This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
+- Units: deg
 
-- Units: m
+- Range: 0 360
 
-- Range: 0 32767
+## PRX_IGN_WID3: Proximity sensor ignore width 3
 
-## RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground
+Proximity sensor ignore width 3
 
-This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
+- Units: deg
 
-- Units: cm
+- Range: 0 127
 
-- Range: 5 127
+## PRX_IGN_ANG4: Proximity sensor ignore angle 4
 
-- Increment: 1
+Proximity sensor ignore angle 4
 
-## RNGFND6_ADDR: Bus address of sensor
+- Units: deg
 
-This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
+- Range: 0 360
 
-- Range: 0 127
+## PRX_IGN_WID4: Proximity sensor ignore width 4
 
-- Increment: 1
+Proximity sensor ignore width 4
 
-## RNGFND6_POS_X:  X position offset
+- Units: deg
 
-*Note: This parameter is for advanced users*
+- Range: 0 127
 
-X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
+## PRX_IGN_ANG5: Proximity sensor ignore angle 5
 
-- Units: m
+Proximity sensor ignore angle 5
 
-- Range: -5 5
+- Units: deg
 
-- Increment: 0.01
+- Range: 0 360
 
-## RNGFND6_POS_Y: Y position offset
+## PRX_IGN_WID5: Proximity sensor ignore width 5
 
-*Note: This parameter is for advanced users*
+Proximity sensor ignore width 5
 
-Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
+- Units: deg
 
-- Units: m
+- Range: 0 127
 
-- Range: -5 5
+## PRX_IGN_ANG6: Proximity sensor ignore angle 6
 
-- Increment: 0.01
+Proximity sensor ignore angle 6
 
-## RNGFND6_POS_Z: Z position offset
+- Units: deg
 
-*Note: This parameter is for advanced users*
+- Range: 0 360
 
-Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
+## PRX_IGN_WID6: Proximity sensor ignore width 6
 
-- Units: m
+Proximity sensor ignore width 6
 
-- Range: -5 5
+- Units: deg
 
-- Increment: 0.01
+- Range: 0 127
 
-## RNGFND6_ORIENT: Rangefinder orientation
+## PRX_LOG_RAW: Proximity raw distances log
 
 *Note: This parameter is for advanced users*
 
-Orientation of rangefinder
+Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Forward|
-|1|Forward-Right|
-|2|Right|
-|3|Back-Right|
-|4|Back|
-|5|Back-Left|
-|6|Left|
-|7|Forward-Left|
-|24|Up|
-|25|Down|
+|0|Off|
+|1|On|
 
-## RNGFND6_WSP_MAVG: Moving Average Range
+## PRX_FILT: Proximity filter cutoff frequency
 
 *Note: This parameter is for advanced users*
 
-Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
-
-- Range: 0 255
-
-## RNGFND6_WSP_MEDF: Moving Median Filter
+Cutoff frequency for low pass filter applied to each face in the proximity boundary
 
-*Note: This parameter is for advanced users*
+- Units: Hz
 
-Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
+- Range: 0 20
 
-- Range: 0 255
+# PSC Parameters
 
-## RNGFND6_WSP_FRQ: Frequency
+## PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency
 
 *Note: This parameter is for advanced users*
 
-Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
+Lower values will slow the response of the navigation controller and reduce twitchiness
 
-- Range: 0 10000
+- Units: Hz
 
-## RNGFND6_WSP_AVG: Multi-pulse averages
+- Range: 0.5 5
 
-*Note: This parameter is for advanced users*
+- Increment: 0.1
 
-Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
+## PSC_POSZ_P: Position (vertical) controller P gain
 
-- Range: 0 255
+Position (vertical) 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
 
-## RNGFND6_WSP_THR: Sensitivity threshold
+- Range: 1.000 3.000
 
-*Note: This parameter is for advanced users*
+## PSC_VELZ_P: Velocity (vertical) controller P gain
 
-Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
+Velocity (vertical) 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
 
-- Range: -1 255
+- Range: 1.000 8.000
 
-## RNGFND6_WSP_BAUD: Baud rate
+## PSC_VELZ_I: Velocity (vertical) controller I gain
 
 *Note: This parameter is for advanced users*
 
-Desired baud rate
+Velocity (vertical) controller I gain.  Corrects long-term difference in desired velocity to a target acceleration
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Low Speed|
-|1|High Speed|
+- Range: 0.02 1.00
 
-# RNGFND7 Parameters
+- Increment: 0.01
 
-## RNGFND7_TYPE: Rangefinder type
+## PSC_VELZ_IMAX: Velocity (vertical) controller I gain maximum
 
-What type of rangefinder device that is connected
+Velocity (vertical) controller I gain maximum.  Constrains the target acceleration that the I gain will output
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Analog|
-|2|MaxbotixI2C|
-|3|LidarLite-I2C|
-|5|PWM|
-|6|BBB-PRU|
-|7|LightWareI2C|
-|8|LightWareSerial|
-|9|Bebop|
-|10|MAVLink|
-|11|uLanding|
-|12|LeddarOne|
-|13|MaxbotixSerial|
-|14|TeraRangerI2C|
-|15|LidarLiteV3-I2C|
-|16|VL53L0X or VL53L1X|
-|17|NMEA|
-|18|WASP-LRF|
-|19|BenewakeTF02|
-|20|Benewake-Serial|
-|21|LidarLightV3HP|
-|22|PWM|
-|23|BlueRoboticsPing|
-|24|UAVCAN|
-|25|BenewakeTFminiPlus-I2C|
-|26|LanbaoPSK-CM8JL65-CC5|
-|27|BenewakeTF03|
-|28|VL53L1X-ShortRange|
-|29|LeddarVu8-Serial|
-|30|HC-SR04|
-|31|GYUS42v2|
-|32|MSP|
-|33|USD1_CAN|
-|100|SITL|
+- Range: 1.000 8.000
 
-## RNGFND7_PIN: Rangefinder pin
+## PSC_VELZ_D: Velocity (vertical) controller D gain
 
-Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
+*Note: This parameter is for advanced users*
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|11|PX4-airspeed port|
-|15|Pixhawk-airspeed port|
-|50|Pixhawk AUXOUT1|
-|51|Pixhawk AUXOUT2|
-|52|Pixhawk AUXOUT3|
-|53|Pixhawk AUXOUT4|
-|54|Pixhawk AUXOUT5|
-|55|Pixhawk AUXOUT6|
+Velocity (vertical) controller D gain.  Corrects short-term changes in velocity
 
-## RNGFND7_SCALING: Rangefinder scaling
+- Range: 0.00 1.00
 
-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.
+- Increment: 0.001
 
-- Units: m/V
+## PSC_VELZ_FF: Velocity (vertical) controller Feed Forward gain
 
-- Increment: 0.001
+*Note: This parameter is for advanced users*
 
-## RNGFND7_OFFSET: rangefinder offset
+Velocity (vertical) controller Feed Forward gain.  Produces an output that is proportional to the magnitude of the target
 
-Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
+- Range: 0 1
 
-- Units: V
+- Increment: 0.01
 
-- Increment: 0.001
+## PSC_VELZ_FLTE: Velocity (vertical) error filter
 
-## RNGFND7_FUNCTION: Rangefinder function
+*Note: This parameter is for advanced users*
 
-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.
+Velocity (vertical) error filter.  This filter (in Hz) is applied to the input for P and I terms
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Linear|
-|1|Inverted|
-|2|Hyperbolic|
+- Range: 0 100
 
-## RNGFND7_MIN_CM: Rangefinder minimum distance
+- Units: Hz
 
-Minimum distance in centimeters that rangefinder can reliably read
+## PSC_VELZ_FLTD: Velocity (vertical) input filter for D term
 
-- Units: cm
+*Note: This parameter is for advanced users*
 
-- Increment: 1
+Velocity (vertical) input filter for D term.  This filter (in Hz) is applied to the input for D terms
 
-## RNGFND7_MAX_CM: Rangefinder maximum distance
+- Range: 0 100
 
-Maximum distance in centimeters that rangefinder can reliably read
+- Units: Hz
 
-- Units: cm
+## PSC_ACCZ_P: Acceleration (vertical) controller P gain
 
-- Increment: 1
+Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output
 
-## RNGFND7_STOP_PIN: Rangefinder stop pin
+- Range: 0.200 1.500
 
-Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.
+- Increment: 0.05
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|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|
+## PSC_ACCZ_I: Acceleration (vertical) controller I gain
 
-## RNGFND7_RMETRIC: Ratiometric
+Acceleration (vertical) controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration
 
-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.
+- Range: 0.000 3.000
 
-|Value|Meaning|
-|:---:|:---:|
-|0|No|
-|1|Yes|
+## PSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum
 
-## RNGFND7_PWRRNG: Powersave range
+Acceleration (vertical) controller I gain maximum.  Constrains the maximum pwm that the I term will generate
 
-This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
+- Range: 0 1000
 
-- Units: m
+- Units: d%
 
-- Range: 0 32767
+## PSC_ACCZ_D: Acceleration (vertical) controller D gain
 
-## RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground
+Acceleration (vertical) controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration
 
-This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
+- Range: 0.000 0.400
 
-- Units: cm
+## PSC_ACCZ_FF: Acceleration (vertical) controller feed forward
 
-- Range: 5 127
+Acceleration (vertical) controller feed forward
 
-- Increment: 1
+- Range: 0 0.5
 
-## RNGFND7_ADDR: Bus address of sensor
+- Increment: 0.001
 
-This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
+## PSC_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz
 
-- Range: 0 127
+Acceleration (vertical) controller target frequency in Hz
 
-- Increment: 1
+- Range: 1 50
 
-## RNGFND7_POS_X:  X position offset
+- Increment: 1
 
-*Note: This parameter is for advanced users*
+- Units: Hz
 
-X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
+## PSC_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz
 
-- Units: m
+Acceleration (vertical) controller error frequency in Hz
 
-- Range: -5 5
+- Range: 1 100
 
-- Increment: 0.01
+- Increment: 1
 
-## RNGFND7_POS_Y: Y position offset
+- Units: Hz
 
-*Note: This parameter is for advanced users*
+## PSC_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz
 
-Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
+Acceleration (vertical) controller derivative frequency in Hz
 
-- Units: m
+- Range: 1 100
 
-- Range: -5 5
+- Increment: 1
 
-- Increment: 0.01
+- Units: Hz
 
-## RNGFND7_POS_Z: Z position offset
+## PSC_ACCZ_SMAX: Accel (vertical) slew rate limit
 
 *Note: This parameter is for advanced users*
 
-Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
+Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
 
-- Units: m
+- Range: 0 200
 
-- Range: -5 5
+- Increment: 0.5
 
-- Increment: 0.01
+## PSC_POSXY_P: Position (horizontal) controller P gain
+
+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
+
+- Range: 0.500 2.000
 
-## RNGFND7_ORIENT: Rangefinder orientation
+## PSC_VELXY_P: Velocity (horizontal) P gain
 
 *Note: This parameter is for advanced users*
 
-Orientation of rangefinder
+Velocity (horizontal) P gain.  Converts the difference between desired and actual velocity to a target acceleration
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Forward|
-|1|Forward-Right|
-|2|Right|
-|3|Back-Right|
-|4|Back|
-|5|Back-Left|
-|6|Left|
-|7|Forward-Left|
-|24|Up|
-|25|Down|
+- Range: 0.1 6.0
+
+- Increment: 0.1
 
-## RNGFND7_WSP_MAVG: Moving Average Range
+## PSC_VELXY_I: Velocity (horizontal) I gain
 
 *Note: This parameter is for advanced users*
 
-Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
+Velocity (horizontal) I gain.  Corrects long-term difference between desired and actual velocity to a target acceleration
 
-- Range: 0 255
+- Range: 0.02 1.00
+
+- Increment: 0.01
 
-## RNGFND7_WSP_MEDF: Moving Median Filter
+## PSC_VELXY_D: Velocity (horizontal) D gain
 
 *Note: This parameter is for advanced users*
 
-Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
+Velocity (horizontal) D gain.  Corrects short-term changes in velocity
 
-- Range: 0 255
+- Range: 0.00 1.00
+
+- Increment: 0.001
 
-## RNGFND7_WSP_FRQ: Frequency
+## PSC_VELXY_IMAX: Velocity (horizontal) integrator maximum
 
 *Note: This parameter is for advanced users*
 
-Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
+Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output
 
-- Range: 0 10000
+- Range: 0 4500
+
+- Increment: 10
+
+- Units: cm/s/s
 
-## RNGFND7_WSP_AVG: Multi-pulse averages
+## PSC_VELXY_FLTE: Velocity (horizontal) input filter
 
 *Note: This parameter is for advanced users*
 
-Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
+Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms
 
-- Range: 0 255
+- Range: 0 100
+
+- Units: Hz
 
-## RNGFND7_WSP_THR: Sensitivity threshold
+## PSC_VELXY_FLTD: Velocity (horizontal) input filter
 
 *Note: This parameter is for advanced users*
 
-Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
+Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term
 
-- Range: -1 255
+- Range: 0 100
 
-## RNGFND7_WSP_BAUD: Baud rate
+- Units: Hz
 
-*Note: This parameter is for advanced users*
+## PSC_VELXY_FF: Velocity (horizontal) feed forward gain
 
-Desired baud rate
+*Note: This parameter is for advanced users*
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Low Speed|
-|1|High Speed|
+Velocity (horizontal) feed forward gain.  Converts the difference between desired velocity to a target acceleration
 
-# RNGFND8 Parameters
+- Range: 0 6
 
-## RNGFND8_TYPE: Rangefinder type
+- Increment: 0.01
 
-What type of rangefinder device that is connected
+## PSC_ANGLE_MAX: Position Control Angle Max
 
-|Value|Meaning|
-|:---:|:---:|
-|0|None|
-|1|Analog|
-|2|MaxbotixI2C|
-|3|LidarLite-I2C|
-|5|PWM|
-|6|BBB-PRU|
-|7|LightWareI2C|
-|8|LightWareSerial|
-|9|Bebop|
-|10|MAVLink|
-|11|uLanding|
-|12|LeddarOne|
-|13|MaxbotixSerial|
-|14|TeraRangerI2C|
-|15|LidarLiteV3-I2C|
-|16|VL53L0X or VL53L1X|
-|17|NMEA|
-|18|WASP-LRF|
-|19|BenewakeTF02|
-|20|Benewake-Serial|
-|21|LidarLightV3HP|
-|22|PWM|
-|23|BlueRoboticsPing|
-|24|UAVCAN|
-|25|BenewakeTFminiPlus-I2C|
-|26|LanbaoPSK-CM8JL65-CC5|
-|27|BenewakeTF03|
-|28|VL53L1X-ShortRange|
-|29|LeddarVu8-Serial|
-|30|HC-SR04|
-|31|GYUS42v2|
-|32|MSP|
-|33|USD1_CAN|
-|100|SITL|
+*Note: This parameter is for advanced users*
 
-## RNGFND8_PIN: Rangefinder pin
+Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value
 
-Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
+- Units: deg
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|11|PX4-airspeed port|
-|15|Pixhawk-airspeed port|
-|50|Pixhawk AUXOUT1|
-|51|Pixhawk AUXOUT2|
-|52|Pixhawk AUXOUT3|
-|53|Pixhawk AUXOUT4|
-|54|Pixhawk AUXOUT5|
-|55|Pixhawk AUXOUT6|
+- Range: 0 45
 
-## RNGFND8_SCALING: Rangefinder scaling
+- Increment: 1
 
-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.
+## PSC_JERK_XY: Jerk limit for the horizontal kinematic input shaping
 
-- Units: m/V
+*Note: This parameter is for advanced users*
 
-- Increment: 0.001
+Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target
 
-## RNGFND8_OFFSET: rangefinder offset
+- Units: m/s/s/s
 
-Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
+- Range: 1 20
 
-- Units: V
+- Increment: 1
 
-- Increment: 0.001
+## PSC_JERK_Z: Jerk limit for the vertical kinematic input shaping
 
-## RNGFND8_FUNCTION: Rangefinder function
+*Note: This parameter is for advanced users*
 
-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.
+Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Linear|
-|1|Inverted|
-|2|Hyperbolic|
+- Units: m/s/s/s
 
-## RNGFND8_MIN_CM: Rangefinder minimum distance
+- Range: 5 50
 
-Minimum distance in centimeters that rangefinder can reliably read
+- Increment: 1
 
-- Units: cm
+# RALLY Parameters
 
-- Increment: 1
+## RALLY_TOTAL: Rally Total
 
-## RNGFND8_MAX_CM: Rangefinder maximum distance
+*Note: This parameter is for advanced users*
 
-Maximum distance in centimeters that rangefinder can reliably read
+Number of rally points currently loaded
 
-- Units: cm
+## RALLY_LIMIT_KM: Rally Limit
 
-- Increment: 1
+*Note: This parameter is for advanced users*
 
-## RNGFND8_STOP_PIN: Rangefinder stop pin
+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.
 
-Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.
+- Units: km
 
-|Value|Meaning|
-|:---:|:---:|
-|-1|Not Used|
-|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|
+- Increment: 0.1
 
-## RNGFND8_RMETRIC: Ratiometric
+## RALLY_INCL_HOME: Rally Include Home
 
-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.
+Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL
 
 |Value|Meaning|
 |:---:|:---:|
-|0|No|
-|1|Yes|
-
-## RNGFND8_PWRRNG: Powersave range
-
-This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
-
-- Units: m
+|0|DoNotIncludeHome|
+|1|IncludeHome|
 
-- Range: 0 32767
+# RC Parameters
 
-## RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground
+## RC_OVERRIDE_TIME: RC override timeout
 
-This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
+*Note: This parameter is for advanced users*
 
-- Units: cm
+Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
 
-- Range: 5 127
+- Range: 0.0 120.0
 
-- Increment: 1
+- Units: s
 
-## RNGFND8_ADDR: Bus address of sensor
+## RC_OPTIONS: RC options
 
-This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
+*Note: This parameter is for advanced users*
 
-- Range: 0 127
+RC input options
 
-- Increment: 1
+- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection
 
-## RNGFND8_POS_X:  X position offset
+## RC_PROTOCOLS: RC protocols enabled
 
 *Note: This parameter is for advanced users*
 
-X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
-
-- Units: m
+Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
 
-- Range: -5 5
+- Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2
 
-- Increment: 0.01
+# RCn Parameters
 
-## RNGFND8_POS_Y: Y position offset
+## RCn_MIN: RC min PWM
 
 *Note: This parameter is for advanced users*
 
-Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
+RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
 
-- Units: m
+- Units: PWM
 
-- Range: -5 5
+- Range: 800 2200
 
-- Increment: 0.01
+- Increment: 1
 
-## RNGFND8_POS_Z: Z position offset
+## RCn_TRIM: RC trim PWM
 
 *Note: This parameter is for advanced users*
 
-Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
+RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
 
-- Units: m
+- Units: PWM
 
-- Range: -5 5
+- Range: 800 2200
 
-- Increment: 0.01
+- Increment: 1
 
-## RNGFND8_ORIENT: Rangefinder orientation
+## RCn_MAX: RC max PWM
 
 *Note: This parameter is for advanced users*
 
-Orientation of rangefinder
+RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
 
-|Value|Meaning|
-|:---:|:---:|
-|0|Forward|
-|1|Forward-Right|
-|2|Right|
-|3|Back-Right|
-|4|Back|
-|5|Back-Left|
-|6|Left|
-|7|Forward-Left|
-|24|Up|
-|25|Down|
+- Units: PWM
+
+- Range: 800 2200
+
+- Increment: 1
 
-## RNGFND8_WSP_MAVG: Moving Average Range
+## RCn_REVERSED: RC reversed
 
 *Note: This parameter is for advanced users*
 
-Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
+Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
 
-- Range: 0 255
+|Value|Meaning|
+|:---:|:---:|
+|0|Normal|
+|1|Reversed|
 
-## RNGFND8_WSP_MEDF: Moving Median Filter
+## RCn_DZ: RC dead-zone
 
 *Note: This parameter is for advanced users*
 
-Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
+PWM dead zone in microseconds around trim or bottom
 
-- Range: 0 255
+- Units: PWM
 
-## RNGFND8_WSP_FRQ: Frequency
+- Range: 0 200
 
-*Note: This parameter is for advanced users*
+# RELAY Parameters
 
-Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
+## RELAY_PIN: First Relay Pin
 
-- Range: 0 10000
+Digital pin number for first relay control. This is the pin used for camera control.
 
-## RNGFND8_WSP_AVG: Multi-pulse averages
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disabled|
+|49|BB Blue GP0 pin 4|
+|50|AUXOUT1|
+|51|AUXOUT2|
+|52|AUXOUT3|
+|53|AUXOUT4|
+|54|AUXOUT5|
+|55|AUXOUT6|
+|57|BB Blue GP0 pin 3|
+|113|BB Blue GP0 pin 6|
+|116|BB Blue GP0 pin 5|
+|27|BBBMini Pin P8.17|
 
-*Note: This parameter is for advanced users*
+## RELAY_PIN2: Second Relay Pin
 
-Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
+Digital pin number for 2nd relay control.
 
-- Range: 0 255
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disabled|
+|49|BB Blue GP0 pin 4|
+|50|AUXOUT1|
+|51|AUXOUT2|
+|52|AUXOUT3|
+|53|AUXOUT4|
+|54|AUXOUT5|
+|55|AUXOUT6|
+|57|BB Blue GP0 pin 3|
+|113|BB Blue GP0 pin 6|
+|116|BB Blue GP0 pin 5|
+|65|BBBMini Pin P8.18|
 
-## RNGFND8_WSP_THR: Sensitivity threshold
+## RELAY_PIN3: Third Relay Pin
 
-*Note: This parameter is for advanced users*
+Digital pin number for 3rd relay control.
 
-Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disabled|
+|49|BB Blue GP0 pin 4|
+|50|AUXOUT1|
+|51|AUXOUT2|
+|52|AUXOUT3|
+|53|AUXOUT4|
+|54|AUXOUT5|
+|55|AUXOUT6|
+|57|BB Blue GP0 pin 3|
+|113|BB Blue GP0 pin 6|
+|116|BB Blue GP0 pin 5|
+|22|BBBMini Pin P8.19|
 
-- Range: -1 255
+## RELAY_PIN4: Fourth Relay Pin
 
-## RNGFND8_WSP_BAUD: Baud rate
+Digital pin number for 4th relay control.
 
-*Note: This parameter is for advanced users*
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disabled|
+|49|BB Blue GP0 pin 4|
+|50|AUXOUT1|
+|51|AUXOUT2|
+|52|AUXOUT3|
+|53|AUXOUT4|
+|54|AUXOUT5|
+|55|AUXOUT6|
+|57|BB Blue GP0 pin 3|
+|113|BB Blue GP0 pin 6|
+|116|BB Blue GP0 pin 5|
+|63|BBBMini Pin P8.34|
 
-Desired baud rate
+## RELAY_DEFAULT: Default relay state
+
+The state of the relay on boot.
 
 |Value|Meaning|
 |:---:|:---:|
-|0|Low Speed|
-|1|High Speed|
+|0|Off|
+|1|On|
+|2|NoChange|
+
+## RELAY_PIN5: Fifth Relay Pin
+
+Digital pin number for 5th relay control.
+
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disabled|
+|49|BB Blue GP0 pin 4|
+|50|AUXOUT1|
+|51|AUXOUT2|
+|52|AUXOUT3|
+|53|AUXOUT4|
+|54|AUXOUT5|
+|55|AUXOUT6|
+|57|BB Blue GP0 pin 3|
+|113|BB Blue GP0 pin 6|
+|116|BB Blue GP0 pin 5|
+|62|BBBMini Pin P8.13|
+
+## RELAY_PIN6: Sixth Relay Pin
+
+Digital pin number for 6th relay control.
+
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disabled|
+|49|BB Blue GP0 pin 4|
+|50|AUXOUT1|
+|51|AUXOUT2|
+|52|AUXOUT3|
+|53|AUXOUT4|
+|54|AUXOUT5|
+|55|AUXOUT6|
+|57|BB Blue GP0 pin 3|
+|113|BB Blue GP0 pin 6|
+|116|BB Blue GP0 pin 5|
+|37|BBBMini Pin P8.14|
 
-# RNGFND9 Parameters
+# RNGFNDn Parameters
 
-## RNGFND9_TYPE: Rangefinder type
+## RNGFNDn_TYPE: Rangefinder type
 
 What type of rangefinder device that is connected
 
@@ -13483,7 +9567,7 @@ What type of rangefinder device that is connected
 |33|USD1_CAN|
 |100|SITL|
 
-## RNGFND9_PIN: Rangefinder pin
+## RNGFNDn_PIN: Rangefinder pin
 
 Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
 
@@ -13499,7 +9583,7 @@ Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be
 |54|Pixhawk AUXOUT5|
 |55|Pixhawk AUXOUT6|
 
-## RNGFND9_SCALING: Rangefinder scaling
+## RNGFNDn_SCALING: Rangefinder scaling
 
 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.
 
@@ -13507,7 +9591,7 @@ Scaling factor between rangefinder reading and distance. For the linear and inve
 
 - Increment: 0.001
 
-## RNGFND9_OFFSET: rangefinder offset
+## RNGFNDn_OFFSET: rangefinder offset
 
 Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
 
@@ -13515,7 +9599,7 @@ Offset in volts for zero distance for analog rangefinders. Offset added to dista
 
 - Increment: 0.001
 
-## RNGFND9_FUNCTION: Rangefinder function
+## RNGFNDn_FUNCTION: Rangefinder function
 
 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.
 
@@ -13525,7 +9609,7 @@ Control over what function is used to calculate distance. For a linear function,
 |1|Inverted|
 |2|Hyperbolic|
 
-## RNGFND9_MIN_CM: Rangefinder minimum distance
+## RNGFNDn_MIN_CM: Rangefinder minimum distance
 
 Minimum distance in centimeters that rangefinder can reliably read
 
@@ -13533,7 +9617,7 @@ Minimum distance in centimeters that rangefinder can reliably read
 
 - Increment: 1
 
-## RNGFND9_MAX_CM: Rangefinder maximum distance
+## RNGFNDn_MAX_CM: Rangefinder maximum distance
 
 Maximum distance in centimeters that rangefinder can reliably read
 
@@ -13541,7 +9625,7 @@ Maximum distance in centimeters that rangefinder can reliably read
 
 - Increment: 1
 
-## RNGFND9_STOP_PIN: Rangefinder stop pin
+## RNGFNDn_STOP_PIN: Rangefinder stop pin
 
 Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range.
 
@@ -13561,7 +9645,7 @@ Digital pin that enables/disables rangefinder measurement for the pwm rangefinde
 |115|PX4IO ACC1|
 |116|PX4IO ACC2|
 
-## RNGFND9_RMETRIC: Ratiometric
+## RNGFNDn_RMETRIC: Ratiometric
 
 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.
 
@@ -13570,7 +9654,7 @@ This parameter sets whether an analog rangefinder is ratiometric. Most analog ra
 |0|No|
 |1|Yes|
 
-## RNGFND9_PWRRNG: Powersave range
+## RNGFNDn_PWRRNG: Powersave range
 
 This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
 
@@ -13578,7 +9662,7 @@ This parameter sets the estimated terrain distance in meters above which the sen
 
 - Range: 0 32767
 
-## RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground
+## RNGFNDn_GNDCLEAR: Distance (in cm) from the range finder to the ground
 
 This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
 
@@ -13588,7 +9672,7 @@ This parameter sets the expected range measurement(in cm) that the range finder
 
 - Increment: 1
 
-## RNGFND9_ADDR: Bus address of sensor
+## RNGFNDn_ADDR: Bus address of sensor
 
 This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
 
@@ -13596,7 +9680,7 @@ This sets the bus address of the sensor, where applicable. Used for the I2C and
 
 - Increment: 1
 
-## RNGFND9_POS_X:  X position offset
+## RNGFNDn_POS_X:  X position offset
 
 *Note: This parameter is for advanced users*
 
@@ -13608,7 +9692,7 @@ X position of the rangefinder in body frame. Positive X is forward of the origin
 
 - Increment: 0.01
 
-## RNGFND9_POS_Y: Y position offset
+## RNGFNDn_POS_Y: Y position offset
 
 *Note: This parameter is for advanced users*
 
@@ -13620,7 +9704,7 @@ Y position of the rangefinder in body frame. Positive Y is to the right of the o
 
 - Increment: 0.01
 
-## RNGFND9_POS_Z: Z position offset
+## RNGFNDn_POS_Z: Z position offset
 
 *Note: This parameter is for advanced users*
 
@@ -13632,7 +9716,7 @@ Z position of the rangefinder in body frame. Positive Z is down from the origin.
 
 - Increment: 0.01
 
-## RNGFND9_ORIENT: Rangefinder orientation
+## RNGFNDn_ORIENT: Rangefinder orientation
 
 *Note: This parameter is for advanced users*
 
@@ -13651,7 +9735,7 @@ Orientation of rangefinder
 |24|Up|
 |25|Down|
 
-## RNGFND9_WSP_MAVG: Moving Average Range
+## RNGFNDn_WSP_MAVG: Moving Average Range
 
 *Note: This parameter is for advanced users*
 
@@ -13659,7 +9743,7 @@ Sets the number of historic range results to use for calculating the current ran
 
 - Range: 0 255
 
-## RNGFND9_WSP_MEDF: Moving Median Filter
+## RNGFNDn_WSP_MEDF: Moving Median Filter
 
 *Note: This parameter is for advanced users*
 
@@ -13667,7 +9751,7 @@ Sets the window size for the real-time median filter. When MEDF is greater than
 
 - Range: 0 255
 
-## RNGFND9_WSP_FRQ: Frequency
+## RNGFNDn_WSP_FRQ: Frequency
 
 *Note: This parameter is for advanced users*
 
@@ -13675,7 +9759,7 @@ Sets the repetition frequency of the ranging operation in Hertz. Upon entering t
 
 - Range: 0 10000
 
-## RNGFND9_WSP_AVG: Multi-pulse averages
+## RNGFNDn_WSP_AVG: Multi-pulse averages
 
 *Note: This parameter is for advanced users*
 
@@ -13683,7 +9767,7 @@ Sets the number of pulses to be used in multi-pulse averaging mode. In this mode
 
 - Range: 0 255
 
-## RNGFND9_WSP_THR: Sensitivity threshold
+## RNGFNDn_WSP_THR: Sensitivity threshold
 
 *Note: This parameter is for advanced users*
 
@@ -13691,7 +9775,7 @@ Sets the system sensitivity. Larger values of THR represent higher sensitivity.
 
 - Range: -1 255
 
-## RNGFND9_WSP_BAUD: Baud rate
+## RNGFNDn_WSP_BAUD: Baud rate
 
 *Note: This parameter is for advanced users*
 
@@ -13964,6 +10048,96 @@ Desired baud rate
 |0|Low Speed|
 |1|High Speed|
 
+# RPM Parameters
+
+## RPM_TYPE: RPM type
+
+What type of RPM sensor is connected
+
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|PWM|
+|2|AUXPIN|
+|3|EFI|
+|4|Harmonic Notch|
+
+## RPM_SCALING: RPM scaling
+
+Scaling factor between sensor reading and RPM.
+
+- Increment: 0.001
+
+## RPM_MAX: Maximum RPM
+
+Maximum RPM to report
+
+- Increment: 1
+
+## RPM_MIN: Minimum RPM
+
+Minimum RPM to report
+
+- Increment: 1
+
+## RPM_MIN_QUAL: Minimum Quality
+
+*Note: This parameter is for advanced users*
+
+Minimum data quality to be used
+
+- Increment: 0.1
+
+## RPM_PIN: Input pin number
+
+Which pin to use
+
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disabled|
+|50|PixhawkAUX1|
+|51|PixhawkAUX2|
+|52|PixhawkAUX3|
+|53|PixhawkAUX4|
+|54|PixhawkAUX5|
+|55|PixhawkAUX6|
+
+## RPM2_TYPE: Second RPM type
+
+*Note: This parameter is for advanced users*
+
+What type of RPM sensor is connected
+
+|Value|Meaning|
+|:---:|:---:|
+|0|None|
+|1|PWM|
+|2|AUXPIN|
+|3|EFI|
+|4|Harmonic Notch|
+
+## RPM2_SCALING: RPM scaling
+
+*Note: This parameter is for advanced users*
+
+Scaling factor between sensor reading and RPM.
+
+- Increment: 0.001
+
+## RPM2_PIN: RPM2 input pin number
+
+Which pin to use
+
+|Value|Meaning|
+|:---:|:---:|
+|-1|Disabled|
+|50|PixhawkAUX1|
+|51|PixhawkAUX2|
+|52|PixhawkAUX3|
+|53|PixhawkAUX4|
+|54|PixhawkAUX5|
+|55|PixhawkAUX6|
+
 # SCHED Parameters
 
 ## SCHED_DEBUG: Scheduler debug level
@@ -15426,4 +11600,95 @@ Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked e
 
 Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.
 
-- Range: 25 1000
\ No newline at end of file
+- Range: 25 1000
+
+# WPNAV Parameters
+
+## WPNAV_SPEED: Waypoint Horizontal Speed Target
+
+Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission
+
+- Units: cm/s
+
+- Range: 20 2000
+
+- Increment: 50
+
+## WPNAV_RADIUS: Waypoint Radius
+
+Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
+
+- Units: cm
+
+- Range: 5 1000
+
+- Increment: 1
+
+## WPNAV_SPEED_UP: Waypoint Climb Speed Target
+
+Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission
+
+- Units: cm/s
+
+- Range: 10 1000
+
+- Increment: 50
+
+## WPNAV_SPEED_DN: Waypoint Descent Speed Target
+
+Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission
+
+- Units: cm/s
+
+- Range: 10 500
+
+- Increment: 10
+
+## WPNAV_ACCEL: Waypoint Acceleration 
+
+Defines the horizontal acceleration in cm/s/s used during missions
+
+- Units: cm/s/s
+
+- Range: 50 500
+
+- Increment: 10
+
+## WPNAV_ACCEL_Z: Waypoint Vertical Acceleration
+
+Defines the vertical acceleration in cm/s/s used during missions
+
+- Units: cm/s/s
+
+- Range: 50 500
+
+- Increment: 10
+
+## WPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following
+
+*Note: This parameter is for advanced users*
+
+This controls if waypoint missions use rangefinder for terrain following
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disable|
+|1|Enable|
+
+## WPNAV_JERK: Waypoint Jerk
+
+Defines the horizontal jerk in m/s/s used during missions
+
+- Units: m/s/s/s
+
+- Range: 1 20
+
+## WPNAV_TER_MARGIN: Waypoint Terrain following altitude margin
+
+*Note: This parameter is for advanced users*
+
+Waypoint Terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)
+
+- Units: m
+
+- Range: 0.1 100
\ No newline at end of file
diff --git a/Sub-4.1/Parameters.rst b/Sub-4.1/Parameters.rst
index 441f0e4..f41db16 100644
--- a/Sub-4.1/Parameters.rst
+++ b/Sub-4.1/Parameters.rst
@@ -945,6 +945,31 @@ Acro roll\/pitch Expo to allow faster rotation when stick at edges
 
 
 
+.. _CONTROL_FRAME:
+
+CONTROL\_FRAME: Control Frame
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Control Frame used in stabilized modes
+
+
++---------------------------------------+
+| Values                                |
++=======================================+
+| +-------+---------------------------+ |
+| | Value | Meaning                   | |
+| +=======+===========================+ |
+| | 0     | Standard                  | |
+| +-------+---------------------------+ |
+| | 1     | Body frame Yaw/Pitch/Roll | |
+| +-------+---------------------------+ |
+|                                       |
++---------------------------------------+
+
+
+
+
 
 .. _parameters_AHRS_:
 
@@ -3168,7 +3193,7 @@ BARO\_EXT\_BUS: External baro bus
 
 | *Note: This parameter is for advanced users*
 
-This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the GND\_PROBE\_EXT parameter\.
+This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the BARO\_PROBE\_EXT parameter\.
 
 
 +----------------------+
@@ -3183,6 +3208,8 @@ This selects the bus number for looking for an I2C barometer\. When set to \-1 i
 | +-------+----------+ |
 | | 1     | Bus1     | |
 | +-------+----------+ |
+| | 6     | Bus6     | |
+| +-------+----------+ |
 |                      |
 +----------------------+
 
@@ -3270,7 +3297,7 @@ BARO\_PROBE\_EXT: External barometers to probe
 
 | *Note: This parameter is for advanced users*
 
-This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on GND\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in GND\_EXT\_BUS\.
+This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on BARO\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in BARO\_EXT\_BUS\.
 
 
 +-------------------+
diff --git a/Sub-4.1/apm.pdef.json b/Sub-4.1/apm.pdef.json
index 07de2f3..aa14e24 100644
--- a/Sub-4.1/apm.pdef.json
+++ b/Sub-4.1/apm.pdef.json
@@ -1093,13 +1093,14 @@
       "User": "Advanced"
     },
     "BARO_EXT_BUS": {
-      "Description": "This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter.",
+      "Description": "This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.",
       "DisplayName": "External baro bus",
       "User": "Advanced",
       "Values": {
         "-1": "Disabled",
         "0": "Bus0",
-        "1": "Bus1"
+        "1": "Bus1",
+        "6": "Bus6"
       }
     },
     "BARO_FLTR_RNG": {
@@ -1146,7 +1147,7 @@
         "8": "Keller",
         "9": "MS5837"
       },
-      "Description": "This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.",
+      "Description": "This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.",
       "DisplayName": "External barometers to probe",
       "User": "Advanced"
     },
@@ -12796,7 +12797,7 @@
       }
     },
     "MOT_PWM_MAX": {
-      "Description": "This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX",
+      "Description": "This sets the max PWM value in microseconds that will ever be output to the motors",
       "DisplayName": "PWM output maximum",
       "Range": {
         "high": "2000",
@@ -12806,7 +12807,7 @@
       "User": "Advanced"
     },
     "MOT_PWM_MIN": {
-      "Description": "This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN",
+      "Description": "This sets the min PWM output value in microseconds that will ever be output to the motors",
       "DisplayName": "PWM output minimum",
       "Range": {
         "high": "2000",
@@ -21982,6 +21983,15 @@
       "Units": "cdeg",
       "User": "Advanced"
     },
+    "CONTROL_FRAME": {
+      "Description": "Control Frame used in stabilized modes",
+      "DisplayName": "Control Frame",
+      "User": "Standard",
+      "Values": {
+        "0": "Standard",
+        "1": "Body frame Yaw/Pitch/Roll"
+      }
+    },
     "FORMAT_VERSION": {
       "Description": "This value is incremented when changes are made to the eeprom format",
       "DisplayName": "Eeprom format version number",
diff --git a/Sub-4.1/apm.pdef.xml b/Sub-4.1/apm.pdef.xml
index 3fb0b59..0d1f107 100644
--- a/Sub-4.1/apm.pdef.xml
+++ b/Sub-4.1/apm.pdef.xml
@@ -1,15203 +1,15210 @@
 <?xml version="1.0" encoding="utf-8"?>
-        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
-        <paramfile>
-        <vehicles>
-        <parameters name="ArduSub">
-<param humanName="Depth reading at surface" name="ArduSub:SURFACE_DEPTH" documentation="The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">-100 0</field>
-</param>
-<param humanName="Eeprom format version number" name="ArduSub:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduSub:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="My ground station number" name="ArduSub:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
-</param>
-<param humanName="Throttle filter cutoff" name="ArduSub:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
-<field name="Increment">.5</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduSub:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-</param>
-<param humanName="Rangefinder gain" name="ArduSub:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub" user="Standard">
-<field name="Range">0.01 2.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Ground Station Failsafe Enable" name="ArduSub:FS_GCS_ENABLE" documentation="Controls what action to take when GCS heartbeat is lost." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Warn only</value>
-<value code="2">Disarm</value>
-<value code="3">Enter depth hold mode</value>
-<value code="4">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Leak Failsafe Enable" name="ArduSub:FS_LEAK_ENABLE" documentation="Controls what action to take if a leak is detected." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Warn only</value>
-<value code="2">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Internal Pressure Failsafe Enable" name="ArduSub:FS_PRESS_ENABLE" documentation="Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Warn only</value>
-</values>
-</param>
-<param humanName="Internal Temperature Failsafe Enable" name="ArduSub:FS_TEMP_ENABLE" documentation="Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Warn only</value>
-</values>
-</param>
-<param humanName="Internal Pressure Failsafe Threshold" name="ArduSub:FS_PRESS_MAX" documentation="The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter" user="Standard">
-<field name="Units">Pa</field>
-<field name="UnitText">pascal</field>
-</param>
-<param humanName="Internal Temperature Failsafe Threshold" name="ArduSub:FS_TEMP_MAX" documentation="The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter." user="Standard">
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-</param>
-<param humanName="Terrain Failsafe Enable" name="ArduSub:FS_TERRAIN_ENAB" documentation="Controls what action to take if terrain information is lost during AUTO mode" user="Standard">
-<values>
-<value code="0">Disarm</value>
-<value code="1">Hold Position</value>
-<value code="2">Surface</value>
-</values>
-</param>
-<param humanName="Pilot input failsafe action" name="ArduSub:FS_PILOT_INPUT" documentation="Controls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Warn Only</value>
-<value code="2">Disarm</value>
-</values>
-</param>
-<param humanName="Timeout for activation of pilot input failsafe" name="ArduSub:FS_PILOT_TIMEOUT" documentation="Controls the maximum interval between received pilot inputs before the failsafe action is triggered" user="Standard">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Range">0.1 3.0</field>
-</param>
-<param humanName="Crosstrack correction angle limit" name="ArduSub:XTRACK_ANG_LIM" documentation="Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation" user="Standard">
-<field name="Range">10 90</field>
-</param>
-<param humanName="Yaw behaviour during missions" name="ArduSub:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
-<values>
-<value code="0">Never change yaw</value>
-<value code="1">Face next waypoint</value>
-<value code="2">Face next waypoint except RTL</value>
-<value code="3">Face along GPS course</value>
-<value code="4">Correct crosstrack error</value>
-</values>
-</param>
-<param humanName="Pilot maximum vertical ascending speed" name="ArduSub:PILOT_SPEED_UP" documentation="The maximum vertical ascending velocity the pilot may request in cm/s" user="Standard">
-<field name="Units">cm/s</field>
-<field name="UnitText">centimeters per second</field>
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Pilot maximum vertical descending speed" name="ArduSub:PILOT_SPEED_DN" documentation="The maximum vertical descending velocity the pilot may request in cm/s" user="Standard">
-<field name="Units">cm/s</field>
-<field name="UnitText">centimeters per second</field>
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Pilot vertical acceleration" name="ArduSub:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
-<field name="Units">cm/s/s</field>
-<field name="UnitText">centimeters per square second</field>
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Throttle deadzone" name="ArduSub:THR_DZ" documentation="The PWM deadzone in microseconds above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes" user="Standard">
-<field name="Range">0 300</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Log bitmask" name="ArduSub:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<values>
-<value code="830">Default</value>
-<value code="894">Default+RCIN</value>
-<value code="958">Default+IMU</value>
-<value code="1854">Default+Motors</value>
-<value code="-6146">NearlyAll-AC315</value>
-<value code="45054">NearlyAll</value>
-<value code="131071">All+FastATT</value>
-<value code="262142">All+MotBatt</value>
-<value code="393214">All+FastIMU</value>
-<value code="397310">All+FastIMU+PID</value>
-<value code="655358">All+FullIMU</value>
-<value code="0">Disabled</value>
-</values>
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
-</param>
-<param humanName="Angle Max" name="ArduSub:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Increment">10</field>
-<field name="Range">1000 8000</field>
-</param>
-<param humanName="EKF Failsafe Action" name="ArduSub:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Warn only</value>
-<value code="2">Disarm</value>
-</values>
-</param>
-<param humanName="EKF failsafe variance threshold" name="ArduSub:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
-<field name="Values">0.6:Strict,0.8:Default,1.0:Relaxed</field>
-</param>
-<param humanName="Crash check enable" name="ArduSub:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Warn only</value>
-<value code="2">Disarm</value>
-</values>
-</param>
-<param humanName="Default gain at boot" name="ArduSub:JS_GAIN_DEFAULT" documentation="Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]" user="Standard">
-<field name="Range">0.1 1.0</field>
-</param>
-<param humanName="Maximum joystick gain" name="ArduSub:JS_GAIN_MAX" documentation="Maximum joystick gain" user="Standard">
-<field name="Range">0.2 1.0</field>
-</param>
-<param humanName="Minimum joystick gain" name="ArduSub:JS_GAIN_MIN" documentation="Minimum joystick gain" user="Standard">
-<field name="Range">0.1 0.8</field>
-</param>
-<param humanName="Gain steps" name="ArduSub:JS_GAIN_STEPS" documentation="Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Lights brightness steps" name="ArduSub:JS_LIGHTS_STEPS" documentation="Number of steps in brightness between minimum and maximum brightness" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Throttle gain scalar" name="ArduSub:JS_THR_GAIN" documentation="Scalar for gain on the throttle channel" user="Standard">
-<field name="Range">0.5 4.0</field>
-</param>
-<param humanName="Frame configuration" name="ArduSub:FRAME_CONFIG" documentation="Set this parameter according to your vehicle/motor configuration" user="Standard">
-<field name="RebootRequired">True</field>
-<values>
-<value code="0">BlueROV1</value>
-<value code="1">Vectored</value>
-<value code="2">Vectored_6DOF</value>
-<value code="3">Vectored_6DOF_90</value>
-<value code="4">SimpleROV-3</value>
-<value code="5">SimpleROV-4</value>
-<value code="6">SimpleROV-5</value>
-<value code="7">Custom</value>
-</values>
-</param>
-<param humanName="ESC Update Speed" name="ArduSub:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">50 490</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Acro Roll and Pitch P gain" name="ArduSub:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Yaw P gain" name="ArduSub:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Balance Roll" name="ArduSub:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Balance Pitch" name="ArduSub:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Trainer" name="ArduSub:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Leveling</value>
-<value code="2">Leveling and Limited</value>
-</values>
-</param>
-<param humanName="Acro Expo" name="ArduSub:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-</parameters>
-</vehicles>
-<libraries>
-<parameters name="AHRS_">
-<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls 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." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="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. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Yaw P" name="AHRS_YAW_P" documentation="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." user="Advanced">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="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. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
-<field name="Units">rad</field>
-<field name="UnitText">radians</field>
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
-<field name="Units">rad</field>
-<field name="UnitText">radians</field>
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
-<field name="Units">rad</field>
-<field name="UnitText">radians</field>
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="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." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw135</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll180</value>
-<value code="39">Pitch315</value>
-<value code="40">Roll90Pitch315</value>
-<value code="100">Custom</value>
-</values>
-</param>
-<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="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." user="Advanced">
-<field name="Range">0.001 0.5</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="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." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="2">Enable EKF2</value>
-<value code="3">Enable EKF3</value>
-<value code="11">ExternalAHRS</value>
-</values>
-</param>
-<param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="ARMING_">
-<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">0.25 3.0</field>
-</param>
-<param humanName="Arming with Rudder enable/disable" name="ARMING_RUDDER" documentation="Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">ArmingOnly</value>
-<value code="2">ArmOrDisarm</value>
-</values>
-</param>
-<param humanName="Required mission items" name="ARMING_MIS_ITEMS" documentation="Bitmask of mission items that are required to be planned in order to arm the aircraft" user="Advanced">
-<field name="Bitmask">0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint</field>
-</param>
-<param humanName="Arm Checks to Perform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). 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 no RC failsafe you would set ARMING_CHECK to 72." user="Standard">
-<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT</field>
-</param>
-</parameters>
-<parameters name="ARSPD">
-<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">I2C-MS4525D0</value>
-<value code="2">Analog</value>
-<value code="3">I2C-MS5525</value>
-<value code="4">I2C-MS5525 (0x76)</value>
-<value code="5">I2C-MS5525 (0x77)</value>
-<value code="6">I2C-SDP3X</value>
-<value code="7">I2C-DLVR-5in</value>
-<value code="8">UAVCAN</value>
-<value code="9">I2C-DLVR-10in</value>
-<value code="10">I2C-DLVR-20in</value>
-<value code="11">I2C-DLVR-30in</value>
-<value code="12">I2C-DLVR-60in</value>
-<value code="13">NMEA water speed</value>
-<value code="14">MSP</value>
-<value code="15">ASP5033</value>
-</values>
-</param>
-<param humanName="Airspeed use" name="ARSPD_USE" documentation="Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers)." user="Standard">
-<values>
-<value code="0">DoNotUse</value>
-<value code="1">Use</value>
-<value code="2">UseWhenZeroThrottle</value>
-</values>
-</param>
-<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure." user="Advanced">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
-</param>
-<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is &gt; 5%. Should not be left enabled." user="Advanced">
-</param>
-<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed." user="Advanced">
-</param>
-<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="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." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
-</param>
-<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="Bus number of the I2C bus where the airspeed sensor is connected" user="Advanced">
-<values>
-<value code="0">Bus0(internal)</value>
-<value code="1">Bus1(external)</value>
-<value code="2">Bus2(auxillary)</value>
-</values>
-</param>
-<param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
-<values>
-<value code="0">FirstSensor</value>
-<value code="1">2ndSensor</value>
-</values>
-</param>
-<param humanName="Airspeed options bitmask" name="ARSPD_OPTIONS" documentation="Bitmask of options to use with airspeed. Disable and/or re-enable sensor based on the difference between airspeed and ground speed based on ARSPD_WIND_MAX threshold, if set" user="Advanced">
-<field name="Bitmask">0:Disable sensor, 1:Re-enable sensor</field>
-</param>
-<param humanName="Maximum airspeed and ground speed difference" name="ARSPD_WIND_MAX" documentation="If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor." user="Advanced">
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="Airspeed and ground speed difference that gives a warning" name="ARSPD_WIND_WARN" documentation="If the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used." user="Advanced">
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="Second Airspeed type" name="ARSPD2_TYPE" documentation="Type of 2nd airspeed sensor" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">I2C-MS4525D0</value>
-<value code="2">Analog</value>
-<value code="3">I2C-MS5525</value>
-<value code="4">I2C-MS5525 (0x76)</value>
-<value code="5">I2C-MS5525 (0x77)</value>
-<value code="6">I2C-SDP3X</value>
-<value code="7">I2C-DLVR-5in</value>
-<value code="8">UAVCAN</value>
-<value code="9">I2C-DLVR-10in</value>
-<value code="10">I2C-DLVR-20in</value>
-<value code="11">I2C-DLVR-30in</value>
-<value code="12">I2C-DLVR-60in</value>
-<value code="13">NMEA water speed</value>
-<value code="14">MSP</value>
-<value code="15">ASP5033</value>
-</values>
-</param>
-<param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
-<values>
-<value code="0">Don't Use</value>
-<value code="1">use</value>
-<value code="2">UseWhenZeroThrottle</value>
-</values>
-</param>
-<param humanName="Airspeed offset for 2nd airspeed sensor" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed ratio for 2nd airspeed sensor" name="ARSPD2_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed pin for 2nd airspeed sensor" name="ARSPD2_PIN" documentation="Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15. " user="Advanced">
-</param>
-<param humanName="Automatic airspeed ratio calibration for 2nd airspeed sensor" name="ARSPD2_AUTOCAL" documentation="If this is enabled then the autopilot 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." user="Advanced">
-</param>
-<param humanName="Control pitot tube order of 2nd airspeed sensor" name="ARSPD2_TUBE_ORDR" documentation="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." user="Advanced">
-</param>
-<param humanName="Skip airspeed calibration on startup for 2nd sensor" name="ARSPD2_SKIP_CAL" documentation="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." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="The PSI range of the device for 2nd sensor" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
-</param>
-<param humanName="Airspeed I2C bus for 2nd sensor" name="ARSPD2_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
-<values>
-<value code="0">Bus0(internal)</value>
-<value code="1">Bus1(external)</value>
-<value code="2">Bus2(auxillary)</value>
-</values>
-</param>
-</parameters>
-<parameters name="ATC_">
-<param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
-<field name="Units">cdeg/s</field>
-<field name="UnitText">centidegrees per second</field>
-<field name="Range">500 18000</field>
-<field name="Increment">100</field>
-</param>
-<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
-<field name="Units">cdeg/s/s</field>
-<field name="UnitText">centidegrees per square second</field>
-<field name="Range">0 72000</field>
-<values>
-<value code="0">Disabled</value>
-<value code="9000">VerySlow</value>
-<value code="18000">Slow</value>
-<value code="36000">Medium</value>
-<value code="54000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-</param>
-<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
-<field name="Units">cdeg/s/s</field>
-<field name="UnitText">centidegrees per square second</field>
-<field name="Range">0 180000</field>
-<field name="Increment">1000</field>
-<values>
-<value code="0">Disabled</value>
-<value code="30000">VerySlow</value>
-<value code="72000">Slow</value>
-<value code="108000">Medium</value>
-<value code="162000">Fast</value>
-</values>
-</param>
-<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
-<field name="Units">cdeg/s/s</field>
-<field name="UnitText">centidegrees per square second</field>
-<field name="Range">0 180000</field>
-<field name="Increment">1000</field>
-<values>
-<value code="0">Disabled</value>
-<value code="30000">VerySlow</value>
-<value code="72000">Slow</value>
-<value code="108000">Medium</value>
-<value code="162000">Fast</value>
-</values>
-</param>
-<param humanName="Angle Boost" name="ATC_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Roll axis angle controller P gain" name="ATC_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
-<field name="Range">0.0 12.000</field>
-</param>
-<param humanName="Pitch axis angle controller P gain" name="ATC_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
-<field name="Range">0.0 12.000</field>
-</param>
-<param humanName="Yaw axis angle controller P gain" name="ATC_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
-<field name="Range">0.0 6.000</field>
-</param>
-<param humanName="Angle Limit (to maintain altitude) Time Constant" name="ATC_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
-<field name="Range">0.5 10.0</field>
-</param>
-<param humanName="Angular Velocity Max for Roll" name="ATC_RATE_R_MAX" documentation="Maximum angular velocity in roll axis" user="Advanced">
-<field name="Units">deg/s</field>
-<field name="UnitText">degrees per second</field>
-<field name="Range">0 1080</field>
-<field name="Increment">1</field>
-<values>
-<value code="0">Disabled</value>
-<value code="360">Slow</value>
-<value code="720">Medium</value>
-<value code="1080">Fast</value>
-</values>
-</param>
-<param humanName="Angular Velocity Max for Pitch" name="ATC_RATE_P_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
-<field name="Units">deg/s</field>
-<field name="UnitText">degrees per second</field>
-<field name="Range">0 1080</field>
-<field name="Increment">1</field>
-<values>
-<value code="0">Disabled</value>
-<value code="360">Slow</value>
-<value code="720">Medium</value>
-<value code="1080">Fast</value>
-</values>
-</param>
-<param humanName="Angular Velocity Max for Yaw" name="ATC_RATE_Y_MAX" documentation="Maximum angular velocity in yaw axis" user="Advanced">
-<field name="Units">deg/s</field>
-<field name="UnitText">degrees per second</field>
-<field name="Range">0 1080</field>
-<field name="Increment">1</field>
-<values>
-<value code="0">Disabled</value>
-<value code="360">Slow</value>
-<value code="720">Medium</value>
-<value code="1080">Fast</value>
-</values>
-</param>
-<param humanName="Attitude control input time constant" name="ATC_INPUT_TC" documentation="Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Values">0.5:Very Soft,0.2:Soft,0.15:Medium,0.1:Crisp,0.05:Very Crisp</field>
-</param>
-<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.0 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Roll axis rate controller feed forward" name="ATC_RAT_RLL_FF" documentation="Roll axis rate controller feed forward" user="Standard">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FLTT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FLTE" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FLTD" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Roll slew rate limit" name="ATC_RAT_RLL_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
-<field name="Range">0 200</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.0 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Pitch axis rate controller feed forward" name="ATC_RAT_PIT_FF" documentation="Pitch axis rate controller feed forward" user="Standard">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FLTT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FLTE" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FLTD" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Pitch slew rate limit" name="ATC_RAT_PIT_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
-<field name="Range">0 200</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.0 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.0 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis rate controller feed forward" name="ATC_RAT_YAW_FF" documentation="Yaw axis rate controller feed forward" user="Standard">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FLTT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FLTE" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FLTD" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Yaw slew rate limit" name="ATC_RAT_YAW_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
-<field name="Range">0 200</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Throttle Mix Minimum" name="ATC_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.1 0.25</field>
-</param>
-<param humanName="Throttle Mix Maximum" name="ATC_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
-</param>
-<param humanName="Throttle Mix Manual" name="ATC_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
-</param>
-<param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-</parameters>
-<parameters name="AVOID_">
-<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable avoidance input sources" user="Standard">
-<field name="Bitmask">0:UseFence,1:UseProximitySensor,2:UseBeaconFence</field>
-</param>
-<param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">1 10</field>
-</param>
-<param humanName="Avoidance maximum backup speed" name="AVOID_BACKUP_SPD" documentation="Maximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable" user="Standard">
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-<field name="Range">0 2</field>
-</param>
-<param humanName="Avoidance maximum acceleration" name="AVOID_ACCEL_MAX" documentation="Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits" user="Standard">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">0 9</field>
-</param>
-<param humanName="Avoidance deadzone between stopping and backing away from obstacle" name="AVOID_BACKUP_DZ" documentation="Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle." user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 2</field>
-</param>
-</parameters>
-<parameters name="BARO">
-<param humanName="Ground Pressure" name="BARO1_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
-<field name="Units">Pa</field>
-<field name="UnitText">pascal</field>
-<field name="Increment">1</field>
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-</param>
-<param humanName="ground temperature" name="BARO_GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Increment">1</field>
-<field name="Volatile">True</field>
-</param>
-<param humanName="altitude offset" name="BARO_ALT_OFFSET" documentation="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." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Primary barometer" name="BARO_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
-<values>
-<value code="0">FirstBaro</value>
-<value code="1">2ndBaro</value>
-<value code="2">3rdBaro</value>
-</values>
-</param>
-<param humanName="External baro bus" name="BARO_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter." user="Advanced">
-<values>
-<value code="-1">Disabled</value>
-<value code="0">Bus0</value>
-<value code="1">Bus1</value>
-</values>
-</param>
-<param humanName="Specific Gravity (For water depth measurement)" name="BARO_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
-<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
-</param>
-<param humanName="Ground Pressure" name="BARO2_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
-<field name="Units">Pa</field>
-<field name="UnitText">pascal</field>
-<field name="Increment">1</field>
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-</param>
-<param humanName="Absolute Pressure" name="BARO3_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
-<field name="Units">Pa</field>
-<field name="UnitText">pascal</field>
-<field name="Increment">1</field>
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-</param>
-<param humanName="Range in which sample is accepted" name="BARO_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="External barometers to probe" name="BARO_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS." user="Advanced">
-<field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP</field>
-</param>
-<param humanName="Baro ID" name="BARO1_DEVID" documentation="Barometer sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Baro ID2" name="BARO2_DEVID" documentation="Barometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Baro ID3" name="BARO3_DEVID" documentation="Barometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-</parameters>
-<parameters name="BARO1_WCF_">
-<param humanName="Wind coefficient enable" name="BARO1_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO1_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO1_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO1_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO1_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-</parameters>
-<parameters name="BARO2_WCF_">
-<param humanName="Wind coefficient enable" name="BARO2_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO2_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO2_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO2_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO2_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-</parameters>
-<parameters name="BARO3_WCF_">
-<param humanName="Wind coefficient enable" name="BARO3_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO3_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO3_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO3_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO3_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
-<field name="Range">-1.0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-</parameters>
-<parameters name="BATT2_">
-<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Generic</value>
-<value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">ESC</value>
-<value code="10">SumOfFollowing</value>
-<value code="11">FuelFlow</value>
-<value code="12">FuelLevelPWM</value>
-<value code="13">SMBUS-SUI3</value>
-<value code="14">SMBUS-SUI6</value>
-<value code="15">NeoDesign</value>
-<value code="16">SMBus-Maxell</value>
-<value code="17">Generator-Elec</value>
-<value code="18">Generator-Fuel</value>
-<value code="19">Rotoye</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="5">Navigator</value>
-<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
-<value code="14">CubeOrange</value>
-<value code="16">Durandal</value>
-<value code="100">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="4">CubeOrange_PM2/Navigator</value>
-<value code="14">Pixhawk2_PM2</value>
-<value code="15">CubeOrange</value>
-<value code="17">Durandal</value>
-<value code="101">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT2_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">A/V</field>
-<field name="UnitText">ampere per volt</field>
-</param>
-<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
-</param>
-<param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">1</field>
-<field name="Range">0 120</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code="1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Required arming voltage" name="BATT2_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Required arming remaining capacity" name="BATT2_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter." user="Advanced">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery monitor I2C bus number" name="BATT2_BUS" documentation="Battery monitor I2C bus number" user="Standard">
-<field name="Range">0 3</field>
-</param>
-<param humanName="Battery monitor options" name="BATT2_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
-<field name="Bitmask">0:Ignore UAVCAN SoC</field>
-</param>
-</parameters>
-<parameters name="BATT3_">
-<param humanName="Battery monitoring" name="BATT3_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Generic</value>
-<value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">ESC</value>
-<value code="10">SumOfFollowing</value>
-<value code="11">FuelFlow</value>
-<value code="12">FuelLevelPWM</value>
-<value code="13">SMBUS-SUI3</value>
-<value code="14">SMBUS-SUI6</value>
-<value code="15">NeoDesign</value>
-<value code="16">SMBus-Maxell</value>
-<value code="17">Generator-Elec</value>
-<value code="18">Generator-Fuel</value>
-<value code="19">Rotoye</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT3_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="5">Navigator</value>
-<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
-<value code="14">CubeOrange</value>
-<value code="16">Durandal</value>
-<value code="100">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT3_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="4">CubeOrange_PM2/Navigator</value>
-<value code="14">Pixhawk2_PM2</value>
-<value code="15">CubeOrange</value>
-<value code="17">Durandal</value>
-<value code="101">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Voltage Multiplier" name="BATT3_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT3_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">A/V</field>
-<field name="UnitText">ampere per volt</field>
-</param>
-<param humanName="AMP offset" name="BATT3_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery capacity" name="BATT3_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery serial number" name="BATT3_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
-</param>
-<param humanName="Low voltage timeout" name="BATT3_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">1</field>
-<field name="Range">0 120</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT3_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code="1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT3_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Low battery capacity" name="BATT3_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT3_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT3_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT3_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT3_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Required arming voltage" name="BATT3_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Required arming remaining capacity" name="BATT3_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter." user="Advanced">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery monitor I2C bus number" name="BATT3_BUS" documentation="Battery monitor I2C bus number" user="Standard">
-<field name="Range">0 3</field>
-</param>
-<param humanName="Battery monitor options" name="BATT3_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
-<field name="Bitmask">0:Ignore UAVCAN SoC</field>
-</param>
-</parameters>
-<parameters name="BATT4_">
-<param humanName="Battery monitoring" name="BATT4_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Generic</value>
-<value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">ESC</value>
-<value code="10">SumOfFollowing</value>
-<value code="11">FuelFlow</value>
-<value code="12">FuelLevelPWM</value>
-<value code="13">SMBUS-SUI3</value>
-<value code="14">SMBUS-SUI6</value>
-<value code="15">NeoDesign</value>
-<value code="16">SMBus-Maxell</value>
-<value code="17">Generator-Elec</value>
-<value code="18">Generator-Fuel</value>
-<value code="19">Rotoye</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT4_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="5">Navigator</value>
-<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
-<value code="14">CubeOrange</value>
-<value code="16">Durandal</value>
-<value code="100">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT4_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="4">CubeOrange_PM2/Navigator</value>
-<value code="14">Pixhawk2_PM2</value>
-<value code="15">CubeOrange</value>
-<value code="17">Durandal</value>
-<value code="101">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Voltage Multiplier" name="BATT4_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT4_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">A/V</field>
-<field name="UnitText">ampere per volt</field>
-</param>
-<param humanName="AMP offset" name="BATT4_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery capacity" name="BATT4_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery serial number" name="BATT4_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
-</param>
-<param humanName="Low voltage timeout" name="BATT4_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">1</field>
-<field name="Range">0 120</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT4_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code="1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT4_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Low battery capacity" name="BATT4_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT4_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT4_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT4_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT4_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Required arming voltage" name="BATT4_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Required arming remaining capacity" name="BATT4_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter." user="Advanced">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery monitor I2C bus number" name="BATT4_BUS" documentation="Battery monitor I2C bus number" user="Standard">
-<field name="Range">0 3</field>
-</param>
-<param humanName="Battery monitor options" name="BATT4_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
-<field name="Bitmask">0:Ignore UAVCAN SoC</field>
-</param>
-</parameters>
-<parameters name="BATT5_">
-<param humanName="Battery monitoring" name="BATT5_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Generic</value>
-<value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">ESC</value>
-<value code="10">SumOfFollowing</value>
-<value code="11">FuelFlow</value>
-<value code="12">FuelLevelPWM</value>
-<value code="13">SMBUS-SUI3</value>
-<value code="14">SMBUS-SUI6</value>
-<value code="15">NeoDesign</value>
-<value code="16">SMBus-Maxell</value>
-<value code="17">Generator-Elec</value>
-<value code="18">Generator-Fuel</value>
-<value code="19">Rotoye</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT5_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="5">Navigator</value>
-<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
-<value code="14">CubeOrange</value>
-<value code="16">Durandal</value>
-<value code="100">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT5_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="4">CubeOrange_PM2/Navigator</value>
-<value code="14">Pixhawk2_PM2</value>
-<value code="15">CubeOrange</value>
-<value code="17">Durandal</value>
-<value code="101">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Voltage Multiplier" name="BATT5_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT5_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">A/V</field>
-<field name="UnitText">ampere per volt</field>
-</param>
-<param humanName="AMP offset" name="BATT5_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery capacity" name="BATT5_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery serial number" name="BATT5_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
-</param>
-<param humanName="Low voltage timeout" name="BATT5_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">1</field>
-<field name="Range">0 120</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT5_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code="1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT5_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Low battery capacity" name="BATT5_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT5_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT5_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT5_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT5_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Required arming voltage" name="BATT5_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Required arming remaining capacity" name="BATT5_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter." user="Advanced">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery monitor I2C bus number" name="BATT5_BUS" documentation="Battery monitor I2C bus number" user="Standard">
-<field name="Range">0 3</field>
-</param>
-<param humanName="Battery monitor options" name="BATT5_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
-<field name="Bitmask">0:Ignore UAVCAN SoC</field>
-</param>
-</parameters>
-<parameters name="BATT6_">
-<param humanName="Battery monitoring" name="BATT6_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Generic</value>
-<value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">ESC</value>
-<value code="10">SumOfFollowing</value>
-<value code="11">FuelFlow</value>
-<value code="12">FuelLevelPWM</value>
-<value code="13">SMBUS-SUI3</value>
-<value code="14">SMBUS-SUI6</value>
-<value code="15">NeoDesign</value>
-<value code="16">SMBus-Maxell</value>
-<value code="17">Generator-Elec</value>
-<value code="18">Generator-Fuel</value>
-<value code="19">Rotoye</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT6_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="5">Navigator</value>
-<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
-<value code="14">CubeOrange</value>
-<value code="16">Durandal</value>
-<value code="100">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT6_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="4">CubeOrange_PM2/Navigator</value>
-<value code="14">Pixhawk2_PM2</value>
-<value code="15">CubeOrange</value>
-<value code="17">Durandal</value>
-<value code="101">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Voltage Multiplier" name="BATT6_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT6_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">A/V</field>
-<field name="UnitText">ampere per volt</field>
-</param>
-<param humanName="AMP offset" name="BATT6_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery capacity" name="BATT6_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery serial number" name="BATT6_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
-</param>
-<param humanName="Low voltage timeout" name="BATT6_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">1</field>
-<field name="Range">0 120</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT6_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code="1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT6_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Low battery capacity" name="BATT6_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT6_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT6_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT6_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT6_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Required arming voltage" name="BATT6_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Required arming remaining capacity" name="BATT6_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter." user="Advanced">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery monitor I2C bus number" name="BATT6_BUS" documentation="Battery monitor I2C bus number" user="Standard">
-<field name="Range">0 3</field>
-</param>
-<param humanName="Battery monitor options" name="BATT6_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
-<field name="Bitmask">0:Ignore UAVCAN SoC</field>
-</param>
-</parameters>
-<parameters name="BATT7_">
-<param humanName="Battery monitoring" name="BATT7_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Generic</value>
-<value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">ESC</value>
-<value code="10">SumOfFollowing</value>
-<value code="11">FuelFlow</value>
-<value code="12">FuelLevelPWM</value>
-<value code="13">SMBUS-SUI3</value>
-<value code="14">SMBUS-SUI6</value>
-<value code="15">NeoDesign</value>
-<value code="16">SMBus-Maxell</value>
-<value code="17">Generator-Elec</value>
-<value code="18">Generator-Fuel</value>
-<value code="19">Rotoye</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT7_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="5">Navigator</value>
-<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
-<value code="14">CubeOrange</value>
-<value code="16">Durandal</value>
-<value code="100">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT7_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="4">CubeOrange_PM2/Navigator</value>
-<value code="14">Pixhawk2_PM2</value>
-<value code="15">CubeOrange</value>
-<value code="17">Durandal</value>
-<value code="101">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Voltage Multiplier" name="BATT7_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT7_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">A/V</field>
-<field name="UnitText">ampere per volt</field>
-</param>
-<param humanName="AMP offset" name="BATT7_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery capacity" name="BATT7_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery serial number" name="BATT7_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
-</param>
-<param humanName="Low voltage timeout" name="BATT7_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">1</field>
-<field name="Range">0 120</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT7_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code="1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT7_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Low battery capacity" name="BATT7_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT7_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT7_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT7_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT7_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Required arming voltage" name="BATT7_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Required arming remaining capacity" name="BATT7_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter." user="Advanced">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery monitor I2C bus number" name="BATT7_BUS" documentation="Battery monitor I2C bus number" user="Standard">
-<field name="Range">0 3</field>
-</param>
-<param humanName="Battery monitor options" name="BATT7_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
-<field name="Bitmask">0:Ignore UAVCAN SoC</field>
-</param>
-</parameters>
-<parameters name="BATT8_">
-<param humanName="Battery monitoring" name="BATT8_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Generic</value>
-<value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">ESC</value>
-<value code="10">SumOfFollowing</value>
-<value code="11">FuelFlow</value>
-<value code="12">FuelLevelPWM</value>
-<value code="13">SMBUS-SUI3</value>
-<value code="14">SMBUS-SUI6</value>
-<value code="15">NeoDesign</value>
-<value code="16">SMBus-Maxell</value>
-<value code="17">Generator-Elec</value>
-<value code="18">Generator-Fuel</value>
-<value code="19">Rotoye</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT8_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="5">Navigator</value>
-<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
-<value code="14">CubeOrange</value>
-<value code="16">Durandal</value>
-<value code="100">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT8_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="4">CubeOrange_PM2/Navigator</value>
-<value code="14">Pixhawk2_PM2</value>
-<value code="15">CubeOrange</value>
-<value code="17">Durandal</value>
-<value code="101">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Voltage Multiplier" name="BATT8_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT8_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">A/V</field>
-<field name="UnitText">ampere per volt</field>
-</param>
-<param humanName="AMP offset" name="BATT8_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery capacity" name="BATT8_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery serial number" name="BATT8_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
-</param>
-<param humanName="Low voltage timeout" name="BATT8_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">1</field>
-<field name="Range">0 120</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT8_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code="1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT8_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Low battery capacity" name="BATT8_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT8_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT8_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT8_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT8_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Required arming voltage" name="BATT8_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Required arming remaining capacity" name="BATT8_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter." user="Advanced">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery monitor I2C bus number" name="BATT8_BUS" documentation="Battery monitor I2C bus number" user="Standard">
-<field name="Range">0 3</field>
-</param>
-<param humanName="Battery monitor options" name="BATT8_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
-<field name="Bitmask">0:Ignore UAVCAN SoC</field>
-</param>
-</parameters>
-<parameters name="BATT9_">
-<param humanName="Battery monitoring" name="BATT9_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Generic</value>
-<value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">ESC</value>
-<value code="10">SumOfFollowing</value>
-<value code="11">FuelFlow</value>
-<value code="12">FuelLevelPWM</value>
-<value code="13">SMBUS-SUI3</value>
-<value code="14">SMBUS-SUI6</value>
-<value code="15">NeoDesign</value>
-<value code="16">SMBus-Maxell</value>
-<value code="17">Generator-Elec</value>
-<value code="18">Generator-Fuel</value>
-<value code="19">Rotoye</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT9_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="5">Navigator</value>
-<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
-<value code="14">CubeOrange</value>
-<value code="16">Durandal</value>
-<value code="100">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT9_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="4">CubeOrange_PM2/Navigator</value>
-<value code="14">Pixhawk2_PM2</value>
-<value code="15">CubeOrange</value>
-<value code="17">Durandal</value>
-<value code="101">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Voltage Multiplier" name="BATT9_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT9_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">A/V</field>
-<field name="UnitText">ampere per volt</field>
-</param>
-<param humanName="AMP offset" name="BATT9_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery capacity" name="BATT9_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery serial number" name="BATT9_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
-</param>
-<param humanName="Low voltage timeout" name="BATT9_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">1</field>
-<field name="Range">0 120</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT9_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code="1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT9_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Low battery capacity" name="BATT9_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT9_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT9_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT9_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT9_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Required arming voltage" name="BATT9_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Required arming remaining capacity" name="BATT9_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter." user="Advanced">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery monitor I2C bus number" name="BATT9_BUS" documentation="Battery monitor I2C bus number" user="Standard">
-<field name="Range">0 3</field>
-</param>
-<param humanName="Battery monitor options" name="BATT9_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
-<field name="Bitmask">0:Ignore UAVCAN SoC</field>
-</param>
-</parameters>
-<parameters name="BATT_">
-<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Generic</value>
-<value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">ESC</value>
-<value code="10">SumOfFollowing</value>
-<value code="11">FuelFlow</value>
-<value code="12">FuelLevelPWM</value>
-<value code="13">SMBUS-SUI3</value>
-<value code="14">SMBUS-SUI6</value>
-<value code="15">NeoDesign</value>
-<value code="16">SMBus-Maxell</value>
-<value code="17">Generator-Elec</value>
-<value code="18">Generator-Fuel</value>
-<value code="19">Rotoye</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="5">Navigator</value>
-<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
-<value code="14">CubeOrange</value>
-<value code="16">Durandal</value>
-<value code="100">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
-<value code="4">CubeOrange_PM2/Navigator</value>
-<value code="14">Pixhawk2_PM2</value>
-<value code="15">CubeOrange</value>
-<value code="17">Durandal</value>
-<value code="101">PX4-v1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="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 with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">A/V</field>
-<field name="UnitText">ampere per volt</field>
-</param>
-<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
-</param>
-<param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">1</field>
-<field name="Range">0 120</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code="1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="2">Disarm</value>
-<value code="3">Enter surface mode</value>
-</values>
-</param>
-<param humanName="Required arming voltage" name="BATT_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Required arming remaining capacity" name="BATT_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter." user="Advanced">
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Battery monitor I2C bus number" name="BATT_BUS" documentation="Battery monitor I2C bus number" user="Standard">
-<field name="Range">0 3</field>
-</param>
-<param humanName="Battery monitor options" name="BATT_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
-<field name="Bitmask">0:Ignore UAVCAN SoC</field>
-</param>
-</parameters>
-<parameters name="BRD_">
-<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO" user="Advanced">
-<values>
-<value code="0">No PWMs</value>
-<value code="1">One PWMs</value>
-<value code="2">Two PWMs</value>
-<value code="3">Three PWMs</value>
-<value code="4">Four PWMs</value>
-<value code="5">Five PWMs</value>
-<value code="6">Six PWMs</value>
-<value code="7">Seven PWMs</value>
-<value code="8">Eight PWMs</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="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." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. 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." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 3 flow control" name="BRD_SER3_RTSCTS" documentation="Enable flow control on serial 3. 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." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 4 flow control" name="BRD_SER4_RTSCTS" documentation="Enable flow control on serial 4. 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." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 5 flow control" name="BRD_SER5_RTSCTS" documentation="Enable flow control on serial 5. 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." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">50Hz</value>
-<value code="2">75Hz</value>
-<value code="3">100Hz</value>
-<value code="4">150Hz</value>
-<value code="5">200Hz</value>
-<value code="6">250Hz</value>
-<value code="7">300Hz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
-<field name="Range">-32768 32767</field>
-</param>
-<param humanName="Outputs which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what outputs can move while the safety switch has not been pressed" user="Advanced">
-<field name="Bitmask">0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1." user="Advanced">
-<field name="Range">-1 80</field>
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-</param>
-<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
-<values>
-<value code="0">AUTO</value>
-<value code="1">PX4V1</value>
-<value code="2">Pixhawk</value>
-<value code="3">Cube/Pixhawk2</value>
-<value code="4">Pixracer</value>
-<value code="5">PixhawkMini</value>
-<value code="6">Pixhawk2Slim</value>
-<value code="13">Intel Aero FC</value>
-<value code="14">Pixhawk Pro</value>
-<value code="20">AUAV2.1</value>
-<value code="21">PCNC1</value>
-<value code="22">MINDPXV2</value>
-<value code="23">SP01</value>
-<value code="24">CUAVv5/FMUV5</value>
-<value code="30">VRX BRAIN51</value>
-<value code="32">VRX BRAIN52</value>
-<value code="33">VRX BRAIN52E</value>
-<value code="34">VRX UBRAIN51</value>
-<value code="35">VRX UBRAIN52</value>
-<value code="36">VRX CORE10</value>
-<value code="38">VRX BRAIN54</value>
-<value code="39">PX4 FMUV6</value>
-<value code="100">PX4 OLDDRIVERS</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
-<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
-</param>
-<param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Range">4.0 5.5</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Servo voltage requirement" name="BRD_VSERVO_MIN" documentation="Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Range">3.3 12.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="microSD slowdown" name="BRD_SD_SLOWDOWN" documentation="This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used." user="Advanced">
-<field name="Range">0 32</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Set PWM Out Voltage" name="BRD_PWM_VOLT_SEL" documentation="This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output." user="Advanced">
-<values>
-<value code="0">3.3V</value>
-<value code="1">5V</value>
-</values>
-</param>
-<param humanName="Board options" name="BRD_OPTIONS" documentation="Board specific option flags" user="Advanced">
-<field name="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins</field>
-</param>
-<param humanName="Boot delay" name="BRD_BOOT_DELAY" documentation="This adds a delay in milliseconds to boot to ensure peripherals initialise fully" user="Advanced">
-<field name="Range">0 10000</field>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-</param>
-<param humanName="IMU Heater P gain" name="BRD_IMUHEAT_P" documentation="IMU Heater P gain" user="Advanced">
-<field name="Range">1 500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="IMU Heater I gain" name="BRD_IMUHEAT_I" documentation="IMU Heater integrator gain" user="Advanced">
-<field name="Range">0 1</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="IMU Heater IMAX" name="BRD_IMUHEAT_IMAX" documentation="IMU Heater integrator maximum" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Alternative HW config" name="BRD_ALT_CONFIG" documentation="Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="BRD_RADIO">
-<param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers">
-<values>
-<value code="0">None</value>
-<value code="1">CYRF6936</value>
-<value code="2">CC2500</value>
-<value code="3">BK2425</value>
-</values>
-</param>
-<param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
-<values>
-<value code="0">Auto</value>
-<value code="1">DSM2</value>
-<value code="2">DSMX</value>
-</values>
-</param>
-<param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
-<field name="Range">0 4</field>
-</param>
-<param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
-<values>
-<value code="0">NotDisabled</value>
-<value code="1">Disabled</value>
-</values>
-</param>
-<param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
-<field name="Range">0 16</field>
-</param>
-<param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
-<field name="Range">0 16</field>
-</param>
-<param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
-<field name="Range">1 8</field>
-</param>
-<param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">MinChannel</value>
-<value code="2">MidChannel</value>
-<value code="3">MaxChannel</value>
-<value code="4">MinChannelCW</value>
-<value code="5">MidChannelCW</value>
-<value code="6">MaxChannelCW</value>
-</values>
-</param>
-<param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
-<values>
-<value code="1">Mode1</value>
-<value code="2">Mode2</value>
-</values>
-</param>
-<param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">TestChan1</value>
-<value code="2">TestChan2</value>
-<value code="3">TestChan3</value>
-<value code="4">TestChan4</value>
-<value code="5">TestChan5</value>
-<value code="6">TestChan6</value>
-<value code="7">TestChan7</value>
-<value code="8">TestChan8</value>
-</values>
-</param>
-<param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
-<field name="Range">0 16</field>
-</param>
-<param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
-<field name="Range">0 16</field>
-</param>
-<param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
-<field name="Range">1 8</field>
-</param>
-<param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
-<field name="Range">0 40</field>
-</param>
-<param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
-<field name="Range">0 120</field>
-</param>
-<param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
-<field name="Range">0 31</field>
-</param>
-</parameters>
-<parameters name="BRD_RTC">
-<param humanName="Allowed sources of RTC time" name="BRD_RTC_TYPES" documentation="Specifies which sources of UTC time will be accepted" user="Advanced">
-<field name="Bitmask">0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW</field>
-</param>
-<param humanName="Timezone offset from UTC" name="BRD_RTC_TZ_MIN" documentation="Adds offset in +- minutes from UTC to calculate local time" user="Advanced">
-<field name="Range">-720 +840</field>
-</param>
-</parameters>
-<parameters name="BTN0_">
-<param humanName="Function for button" name="BTN0_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN0_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN10_">
-<param humanName="Function for button" name="BTN10_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN10_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN11_">
-<param humanName="Function for button" name="BTN11_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN11_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN12_">
-<param humanName="Function for button" name="BTN12_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN12_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN13_">
-<param humanName="Function for button" name="BTN13_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN13_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN14_">
-<param humanName="Function for button" name="BTN14_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN14_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN15_">
-<param humanName="Function for button" name="BTN15_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN15_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN1_">
-<param humanName="Function for button" name="BTN1_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN1_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN2_">
-<param humanName="Function for button" name="BTN2_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN2_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN3_">
-<param humanName="Function for button" name="BTN3_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN3_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN4_">
-<param humanName="Function for button" name="BTN4_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN4_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN5_">
-<param humanName="Function for button" name="BTN5_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN5_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN6_">
-<param humanName="Function for button" name="BTN6_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN6_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN7_">
-<param humanName="Function for button" name="BTN7_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN7_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN8_">
-<param humanName="Function for button" name="BTN8_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN8_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN9_">
-<param humanName="Function for button" name="BTN9_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-<param humanName="Function for button when the shift mode is toggled on" name="BTN9_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">shift</value>
-<value code="2">arm_toggle</value>
-<value code="3">arm</value>
-<value code="4">disarm</value>
-<value code="5">mode_manual</value>
-<value code="6">mode_stabilize</value>
-<value code="7">mode_depth_hold</value>
-<value code="8">mode_poshold</value>
-<value code="9">mode_auto</value>
-<value code="10">mode_circle</value>
-<value code="11">mode_guided</value>
-<value code="12">mode_acro</value>
-<value code="21">mount_center</value>
-<value code="22">mount_tilt_up</value>
-<value code="23">mount_tilt_down</value>
-<value code="24">camera_trigger</value>
-<value code="25">camera_source_toggle</value>
-<value code="26">mount_pan_right</value>
-<value code="27">mount_pan_left</value>
-<value code="31">lights1_cycle</value>
-<value code="32">lights1_brighter</value>
-<value code="33">lights1_dimmer</value>
-<value code="34">lights2_cycle</value>
-<value code="35">lights2_brighter</value>
-<value code="36">lights2_dimmer</value>
-<value code="41">gain_toggle</value>
-<value code="42">gain_inc</value>
-<value code="43">gain_dec</value>
-<value code="44">trim_roll_inc</value>
-<value code="45">trim_roll_dec</value>
-<value code="46">trim_pitch_inc</value>
-<value code="47">trim_pitch_dec</value>
-<value code="48">input_hold_set</value>
-<value code="49">roll_pitch_toggle</value>
-<value code="51">relay_1_on</value>
-<value code="52">relay_1_off</value>
-<value code="53">relay_1_toggle</value>
-<value code="54">relay_2_on</value>
-<value code="55">relay_2_off</value>
-<value code="56">relay_2_toggle</value>
-<value code="57">relay_3_on</value>
-<value code="58">relay_3_off</value>
-<value code="59">relay_3_toggle</value>
-<value code="61">servo_1_inc</value>
-<value code="62">servo_1_dec</value>
-<value code="63">servo_1_min</value>
-<value code="64">servo_1_max</value>
-<value code="65">servo_1_center</value>
-<value code="66">servo_2_inc</value>
-<value code="67">servo_2_dec</value>
-<value code="68">servo_2_min</value>
-<value code="69">servo_2_max</value>
-<value code="70">servo_2_center</value>
-<value code="71">servo_3_inc</value>
-<value code="72">servo_3_dec</value>
-<value code="73">servo_3_min</value>
-<value code="74">servo_3_max</value>
-<value code="75">servo_3_center</value>
-<value code="76">servo_1_min_momentary</value>
-<value code="77">servo_1_max_momentary</value>
-<value code="78">servo_1_min_toggle</value>
-<value code="79">servo_1_max_toggle</value>
-<value code="80">servo_2_min_momentary</value>
-<value code="81">servo_2_max_momentary</value>
-<value code="82">servo_2_min_toggle</value>
-<value code="83">servo_2_max_toggle</value>
-<value code="84">servo_3_min_momentary</value>
-<value code="85">servo_3_max_momentary</value>
-<value code="86">servo_3_min_toggle</value>
-<value code="87">servo_3_max_toggle</value>
-<value code="91">custom_1</value>
-<value code="92">custom_2</value>
-<value code="93">custom_3</value>
-<value code="94">custom_4</value>
-<value code="95">custom_5</value>
-<value code="96">custom_6</value>
-<value code="101">relay_4_on</value>
-<value code="102">relay_4_off</value>
-<value code="103">relay_4_toggle</value>
-<value code="104">relay_1_momentary</value>
-<value code="105">relay_2_momentary</value>
-<value code="106">relay_3_momentary</value>
-<value code="107">relay_4_momentary</value>
-</values>
-</param>
-</parameters>
-<parameters name="CAM_">
-<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
-<values>
-<value code="0">Servo</value>
-<value code="1">Relay</value>
-<value code="2">GoPro in Solo Gimbal</value>
-</values>
-</param>
-<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
-<field name="Units">ds</field>
-<field name="UnitText">deciseconds</field>
-<field name="Range">0 50</field>
-</param>
-<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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." user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 1000</field>
-</param>
-<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
-<values>
-<value code="0">Low</value>
-<value code="1">High</value>
-</values>
-</param>
-<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 180</field>
-</param>
-<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">AUX1</value>
-<value code="51">AUX2</value>
-<value code="52">AUX3</value>
-<value code="53">AUX4</value>
-<value code="54">AUX5</value>
-<value code="55">AUX6</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
-<values>
-<value code="0">TriggerLow</value>
-<value code="1">TriggerHigh</value>
-</values>
-</param>
-<param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
-<values>
-<value code="0">Always</value>
-<value code="1">Only when in AUTO</value>
-</values>
-</param>
-<param humanName="Type of camera (0: None, 1: BMMCC)" name="CAM_TYPE" documentation="Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that." user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">BMMCC</value>
-</values>
-</param>
-</parameters>
-<parameters name="CAM_RC_">
-<param humanName="RunCam device type" name="CAM_RC_TYPE" documentation="RunCam deviee type used to determine OSD menu structure and shutter options.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RunCam Split Micro/RunCam with UART</value>
-<value code="2">RunCam Split</value>
-<value code="3">RunCam Split4 4k</value>
-<value code="4">RunCam Hybrid</value>
-</values>
-</param>
-<param humanName="RunCam features available" name="CAM_RC_FEATURES" documentation="The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used." user="Advanced">
-<field name="Bitmask">0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording</field>
-</param>
-<param humanName="RunCam boot delay before allowing updates" name="CAM_RC_BT_DELAY" documentation="Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync." user="Advanced">
-</param>
-<param humanName="RunCam button delay before allowing further button presses" name="CAM_RC_BTN_DELAY" documentation="Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync." user="Advanced">
-</param>
-<param humanName="RunCam mode delay before allowing further button presses" name="CAM_RC_MDE_DELAY" documentation="Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync." user="Advanced">
-</param>
-<param humanName="RunCam control option" name="CAM_RC_CONTROL" documentation="Specifies the allowed actions required to enter the OSD menu" user="Advanced">
-<field name="Bitmask">0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled</field>
-</param>
-</parameters>
-<parameters name="CAN_">
-<param humanName="Loglevel" name="CAN_LOGLEVEL" documentation="Loglevel for recording initialisation and debug information from CAN Interface" user="Advanced">
-<field name="Range">0 4</field>
-<values>
-<value code="0">Log None</value>
-<value code="1">Log Error</value>
-<value code="2">Log Warning and below</value>
-<value code="3">Log Info and below</value>
-<value code="4">Log Everything</value>
-</values>
-</param>
-</parameters>
-<parameters name="CAN_D1_">
-<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UAVCAN</value>
-<value code="3">ToshibaCAN</value>
-<value code="4">PiccoloCAN</value>
-<value code="5">CANTester</value>
-<value code="8">KDECAN</value>
-<value code="9">PacketDigitalCAN</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="CAN_D1_KDE_">
-<param humanName="Number of motor poles" name="CAN_D1_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
-</param>
-</parameters>
-<parameters name="CAN_D1_PC_">
-<param humanName="ESC channels" name="CAN_D1_PC_ESC_BM" documentation="Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN" user="Advanced">
-<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
-</param>
-<param humanName="ESC output rate" name="CAN_D1_PC_ESC_RT" documentation="Output rate of ESC command messages" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">1 500</field>
-</param>
-<param humanName="Servo channels" name="CAN_D1_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" user="Advanced">
-<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16</field>
-</param>
-<param humanName="Servo command output rate" name="CAN_D1_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">1 500</field>
-</param>
-</parameters>
-<parameters name="CAN_D1_TST_">
-<param humanName="CAN Test Index" name="CAN_D1_TST_ID" documentation="Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot." user="Advanced">
-<field name="Range">0 4</field>
-<values>
-<value code="0">TEST_NONE</value>
-<value code="1">TEST_LOOPBACK</value>
-<value code="2">TEST_BUSOFF_RECOVERY</value>
-<value code="3">TEST_UAVCAN_DNA</value>
-<value code="4">TEST_TOSHIBA_CAN</value>
-<value code="5">TEST_KDE_CAN</value>
-<value code="6">TEST_UAVCAN_ESC</value>
-</values>
-</param>
-<param humanName="CANTester LoopRate" name="CAN_D1_TST_LPR8" documentation="Selects the Looprate of Test methods" user="Advanced">
-<field name="Units">us</field>
-<field name="UnitText">microseconds</field>
-</param>
-</parameters>
-<parameters name="CAN_D1_UC_">
-<param humanName="UAVCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
-<field name="Range">1 250</field>
-</param>
-<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
-<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
-</param>
-<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
-<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
-</param>
-<param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
-<field name="Range">1 200</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="UAVCAN options" name="CAN_D1_UC_OPTION" documentation="Option flags" user="Advanced">
-<field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
-</param>
-</parameters>
-<parameters name="CAN_D2_">
-<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UAVCAN</value>
-<value code="3">ToshibaCAN</value>
-<value code="4">PiccoloCAN</value>
-<value code="5">CANTester</value>
-<value code="8">KDECAN</value>
-<value code="9">PacketDigitalCAN</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="CAN_D2_KDE_">
-<param humanName="Number of motor poles" name="CAN_D2_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
-</param>
-</parameters>
-<parameters name="CAN_D2_PC_">
-<param humanName="ESC channels" name="CAN_D2_PC_ESC_BM" documentation="Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN" user="Advanced">
-<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
-</param>
-<param humanName="ESC output rate" name="CAN_D2_PC_ESC_RT" documentation="Output rate of ESC command messages" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">1 500</field>
-</param>
-<param humanName="Servo channels" name="CAN_D2_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" user="Advanced">
-<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16</field>
-</param>
-<param humanName="Servo command output rate" name="CAN_D2_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">1 500</field>
-</param>
-</parameters>
-<parameters name="CAN_D2_TST_">
-<param humanName="CAN Test Index" name="CAN_D2_TST_ID" documentation="Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot." user="Advanced">
-<field name="Range">0 4</field>
-<values>
-<value code="0">TEST_NONE</value>
-<value code="1">TEST_LOOPBACK</value>
-<value code="2">TEST_BUSOFF_RECOVERY</value>
-<value code="3">TEST_UAVCAN_DNA</value>
-<value code="4">TEST_TOSHIBA_CAN</value>
-<value code="5">TEST_KDE_CAN</value>
-<value code="6">TEST_UAVCAN_ESC</value>
-</values>
-</param>
-<param humanName="CANTester LoopRate" name="CAN_D2_TST_LPR8" documentation="Selects the Looprate of Test methods" user="Advanced">
-<field name="Units">us</field>
-<field name="UnitText">microseconds</field>
-</param>
-</parameters>
-<parameters name="CAN_D2_UC_">
-<param humanName="UAVCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
-<field name="Range">1 250</field>
-</param>
-<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
-<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
-</param>
-<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
-<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
-</param>
-<param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
-<field name="Range">1 200</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="UAVCAN options" name="CAN_D2_UC_OPTION" documentation="Option flags" user="Advanced">
-<field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
-</param>
-</parameters>
-<parameters name="CAN_D3_">
-<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UAVCAN</value>
-<value code="3">ToshibaCAN</value>
-<value code="4">PiccoloCAN</value>
-<value code="5">CANTester</value>
-<value code="8">KDECAN</value>
-<value code="9">PacketDigitalCAN</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="CAN_D3_KDE_">
-<param humanName="Number of motor poles" name="CAN_D3_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
-</param>
-</parameters>
-<parameters name="CAN_D3_PC_">
-<param humanName="ESC channels" name="CAN_D3_PC_ESC_BM" documentation="Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN" user="Advanced">
-<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
-</param>
-<param humanName="ESC output rate" name="CAN_D3_PC_ESC_RT" documentation="Output rate of ESC command messages" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">1 500</field>
-</param>
-<param humanName="Servo channels" name="CAN_D3_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" user="Advanced">
-<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16</field>
-</param>
-<param humanName="Servo command output rate" name="CAN_D3_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">1 500</field>
-</param>
-</parameters>
-<parameters name="CAN_D3_TST_">
-<param humanName="CAN Test Index" name="CAN_D3_TST_ID" documentation="Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot." user="Advanced">
-<field name="Range">0 4</field>
-<values>
-<value code="0">TEST_NONE</value>
-<value code="1">TEST_LOOPBACK</value>
-<value code="2">TEST_BUSOFF_RECOVERY</value>
-<value code="3">TEST_UAVCAN_DNA</value>
-<value code="4">TEST_TOSHIBA_CAN</value>
-<value code="5">TEST_KDE_CAN</value>
-<value code="6">TEST_UAVCAN_ESC</value>
-</values>
-</param>
-<param humanName="CANTester LoopRate" name="CAN_D3_TST_LPR8" documentation="Selects the Looprate of Test methods" user="Advanced">
-<field name="Units">us</field>
-<field name="UnitText">microseconds</field>
-</param>
-</parameters>
-<parameters name="CAN_D3_UC_">
-<param humanName="UAVCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
-<field name="Range">1 250</field>
-</param>
-<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
-<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
-</param>
-<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
-<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
-</param>
-<param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
-<field name="Range">1 200</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="UAVCAN options" name="CAN_D3_UC_OPTION" documentation="Option flags" user="Advanced">
-<field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
-</param>
-</parameters>
-<parameters name="CAN_P1_">
-<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">First driver</value>
-<value code="2">Second driver</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Bitrate of CAN interface" name="CAN_P1_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
-<field name="Range">10000 1000000</field>
-</param>
-</parameters>
-<parameters name="CAN_P2_">
-<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">First driver</value>
-<value code="2">Second driver</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Bitrate of CAN interface" name="CAN_P2_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
-<field name="Range">10000 1000000</field>
-</param>
-</parameters>
-<parameters name="CAN_P3_">
-<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">First driver</value>
-<value code="2">Second driver</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Bitrate of CAN interface" name="CAN_P3_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
-<field name="Range">10000 1000000</field>
-</param>
-</parameters>
-<parameters name="CAN_SLCAN_">
-<param humanName="SLCAN Route" name="CAN_SLCAN_CPORT" documentation="CAN Interface ID to be routed to SLCAN, 0 means no routing" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">First interface</value>
-<value code="2">Second interface</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="SLCAN Serial Port" name="CAN_SLCAN_SERNUM" documentation="Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="0">Serial0</value>
-<value code="1">Serial1</value>
-<value code="2">Serial2</value>
-<value code="3">Serial3</value>
-<value code="4">Serial4</value>
-<value code="5">Serial5</value>
-<value code="6">Serial6</value>
-</values>
-</param>
-<param humanName="SLCAN Timeout" name="CAN_SLCAN_TIMOUT" documentation="Duration of inactivity after which SLCAN is switched back to original driver in seconds." user="Standard">
-<field name="Range">0 127</field>
-</param>
-<param humanName="SLCAN Start Delay" name="CAN_SLCAN_SDELAY" documentation="Duration after which slcan starts after setting SERNUM in seconds." user="Standard">
-<field name="Range">0 127</field>
-</param>
-</parameters>
-<parameters name="CIRCLE_">
-<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">0 200000</field>
-<field name="Increment">100</field>
-</param>
-<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
-<field name="Units">deg/s</field>
-<field name="UnitText">degrees per second</field>
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Circle options" name="CIRCLE_OPTIONS" documentation="0:Enable or disable using the pitch/roll stick control circle mode's radius and rate" user="Standard">
-<field name="Bitmask">0:manual control, 1:face direction of travel, 2:Start at center rather than on perimeter</field>
-</param>
-</parameters>
-<parameters name="COMPASS_">
-<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
-<field name="Range">-400 400</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
-<field name="Range">-400 400</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
-<field name="Range">-3.142 3.142</field>
-<field name="Units">rad</field>
-<field name="UnitText">radians</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Internal-Learning</value>
-<value code="2">EKF-Learning</value>
-<value code="3">InFlight-Learning</value>
-</values>
-</param>
-<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced" calibration="1">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Use Throttle</value>
-<value code="2">Use Current</value>
-</values>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
-<field name="Range">-1000 1000</field>
-<field name="Units">mGauss/A</field>
-<field name="UnitText">milligauss per ampere</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
-<field name="Range">-1000 1000</field>
-<field name="Units">mGauss/A</field>
-<field name="UnitText">milligauss per ampere</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Units">mGauss/A</field>
-<field name="UnitText">milligauss per ampere</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw135</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll180</value>
-<value code="39">Pitch315</value>
-<value code="40">Roll90Pitch315</value>
-<value code="100">Custom</value>
-</values>
-</param>
-<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. 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. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
-</values>
-</param>
-<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
-<field name="Range">-400 400</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
-<field name="Range">-400 400</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
-<field name="Range">-1000 1000</field>
-<field name="Units">mGauss/A</field>
-<field name="UnitText">milligauss per ampere</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
-<field name="Range">-1000 1000</field>
-<field name="Units">mGauss/A</field>
-<field name="UnitText">milligauss per ampere</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Units">mGauss/A</field>
-<field name="UnitText">milligauss per ampere</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
-<field name="Range">-400 400</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
-<field name="Range">-400 400</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
-<field name="Range">-1000 1000</field>
-<field name="Units">mGauss/A</field>
-<field name="UnitText">milligauss per ampere</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
-<field name="Range">-1000 1000</field>
-<field name="Units">mGauss/A</field>
-<field name="UnitText">milligauss per ampere</field>
-<field name="Increment">1</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Units">mGauss/A</field>
-<field name="UnitText">milligauss per ampere</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the secondary compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw135</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll180</value>
-<value code="39">Pitch315</value>
-<value code="40">Roll90Pitch315</value>
-<value code="100">Custom</value>
-</values>
-</param>
-<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
-</values>
-</param>
-<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the tertiary compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw135</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll180</value>
-<value code="39">Pitch315</value>
-<value code="40">Roll90Pitch315</value>
-<value code="100">Custom</value>
-</values>
-</param>
-<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
-</values>
-</param>
-<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
-</param>
-<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
-</param>
-<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
-</param>
-<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
-</param>
-<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
-<field name="Range">4 32</field>
-<values>
-<value code="4">Very Strict</value>
-<value code="8">Strict</value>
-<value code="16">Default</value>
-<value code="32">Relaxed</value>
-</values>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
-<field name="Range">500 3000</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
-<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS</field>
-</param>
-<param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Automatically check orientation" name="COMPASS_AUTO_ROT" documentation="When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">CheckOnly</value>
-<value code="2">CheckAndFix</value>
-</values>
-</param>
-<param humanName="Compass device id with 1st order priority" name="COMPASS_PRIO1_ID" documentation="Compass device id with 1st order priority, set automatically if 0. Reboot required after change." user="Advanced">
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Compass device id with 2nd order priority" name="COMPASS_PRIO2_ID" documentation="Compass device id with 2nd order priority, set automatically if 0. Reboot required after change." user="Advanced">
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Compass device id with 3rd order priority" name="COMPASS_PRIO3_ID" documentation="Compass device id with 3rd order priority, set automatically if 0. Reboot required after change." user="Advanced">
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Enable Compass" name="COMPASS_ENABLE" documentation="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." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass1 scale factor" name="COMPASS_SCALE" documentation="Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done" user="Standard">
-<field name="Range">0 1.3</field>
-</param>
-<param humanName="Compass2 scale factor" name="COMPASS_SCALE2" documentation="Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done" user="Standard">
-<field name="Range">0 1.3</field>
-</param>
-<param humanName="Compass3 scale factor" name="COMPASS_SCALE3" documentation="Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done" user="Standard">
-<field name="Range">0 1.3</field>
-</param>
-<param humanName="Compass options" name="COMPASS_OPTIONS" documentation="This sets options to change the behaviour of the compass" user="Advanced">
-<field name="Bitmask">0:CalRequireGPS</field>
-</param>
-<param humanName="Compass4 device id" name="COMPASS_DEV_ID4" documentation="Extra 4th compass's device id.  Automatically detected, do not set manually" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Compass5 device id" name="COMPASS_DEV_ID5" documentation="Extra 5th compass's device id.  Automatically detected, do not set manually" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Compass6 device id" name="COMPASS_DEV_ID6" documentation="Extra 6th compass's device id.  Automatically detected, do not set manually" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Compass7 device id" name="COMPASS_DEV_ID7" documentation="Extra 7th compass's device id.  Automatically detected, do not set manually" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Compass8 device id" name="COMPASS_DEV_ID8" documentation="Extra 8th compass's device id.  Automatically detected, do not set manually" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Custom orientation roll offset" name="COMPASS_CUS_ROLL" documentation="Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM." user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Custom orientation pitch offset" name="COMPASS_CUS_PIT" documentation="Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM." user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Custom orientation yaw offset" name="COMPASS_CUS_YAW" documentation="Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM." user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="COMPASS_PMOT">
-<param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
-</param>
-<param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
-</param>
-<param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
-</param>
-<param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
-</param>
-<param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
-</param>
-<param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
-</param>
-<param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
-</param>
-<param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
-</param>
-<param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
-</param>
-<param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
-</param>
-<param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
-</param>
-<param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
-</param>
-</parameters>
-<parameters name="EAHRS">
-<param humanName="AHRS type" name="EAHRS_TYPE" documentation="Type of AHRS device" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">VectorNav</value>
-</values>
-</param>
-<param humanName="AHRS data rate" name="EAHRS_RATE" documentation="Requested rate for AHRS device" user="Standard">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-</parameters>
-<parameters name="EK2_">
-<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code="1">GPS 2D vel and 2D pos</value>
-<value code="2">GPS 2D pos</value>
-<value code="3">No GPS</value>
-</values>
-</param>
-<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
-<field name="Range">10 100</field>
-<field name="Increment">5</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation="Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS)." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code="1">Use Range Finder</value>
-<value code="2">Use GPS</value>
-<value code="3">Use Range Beacon</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-<field name="Units">Gauss</field>
-<field name="UnitText">gauss</field>
-</param>
-<param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK." user="Advanced">
-<values>
-<value code="0">When flying</value>
-<value code="1">When manoeuvring</value>
-<value code="2">Never</value>
-<value code="3">After first climb yaw reset</value>
-<value code="4">Always</value>
-</values>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="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." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">10</field>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance 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." user="Advanced">
-<field name="Range">0.0001 0.1</field>
-<field name="Increment">0.0001</field>
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance 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." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-</param>
-<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">rad/s/s</field>
-<field name="UnitText">radians per square second</field>
-</param>
-<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
-<field name="Range">0.000001 0.001</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.005</field>
-<field name="Units">m/s/s/s</field>
-<field name="UnitText">meters per cubic second</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-</param>
-<param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
-<field name="Range">50 200</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-</param>
-<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
-<field name="Range">0.5 50.0</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad</field>
-<field name="UnitText">radians</field>
-</param>
-<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-<field name="Units">cs</field>
-<field name="UnitText">centiseconds</field>
-</param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">Gauss/s</field>
-<field name="UnitText">gauss per second</field>
-</param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">Gauss/s</field>
-<field name="UnitText">gauss per second</field>
-</param>
-<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
-<field name="Range">-1 70</field>
-<field name="Increment">1</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-</param>
-<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height." user="Advanced">
-<field name="Range">0 0.2</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon 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." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">10</field>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
-<field name="Range">2.0 6.0</field>
-<field name="Increment">0.5</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
-<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Bitmask control of EKF reference height correction" name="EK2_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
-<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Optical flow use bitmask" name="EK2_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Navigation</value>
-<value code="2">Terrain</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="EarthField error limit" name="EK2_MAG_EF_LIM" documentation="This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-</param>
-<param humanName="Height rate filter crossover frequency" name="EK2_HRT_FILT" documentation="Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.">
-<field name="Range">0.1 30.0</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="RebootRequired">False</field>
-</param>
-<param humanName="Bitmask of which EKF-GSF yaw estimators run" name="EK2_GSF_RUN_MASK" documentation="1 byte bitmap of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE, EK2_GSF_DELAY and EK2_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE to 0. " user="Advanced">
-<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Bitmask of which EKF-GSF yaw estimators are used" name="EK2_GSF_USE_MASK" documentation="1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. Additionally the EKF2 will  initiate a reset internally if navigation is lost for more than EK2_GSF_DELAY milli seconds." user="Advanced">
-<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK2_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter." user="Advanced">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="EK3_">
-<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
-<field name="Range">10 100</field>
-<field name="Increment">5</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="RebootRequired">True</field>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-<field name="Units">Gauss</field>
-<field name="UnitText">gauss</field>
-</param>
-<param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement." user="Advanced">
-<values>
-<value code="0">When flying</value>
-<value code="1">When manoeuvring</value>
-<value code="2">Never</value>
-<value code="3">After first climb yaw reset</value>
-<value code="4">Always</value>
-<value code="5">Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)</value>
-<value code="6">External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="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." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="RebootRequired">True</field>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance 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." user="Advanced">
-<field name="Range">0.0001 0.1</field>
-<field name="Increment">0.0001</field>
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance 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." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-</param>
-<param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">rad/s/s</field>
-<field name="UnitText">radians per square second</field>
-</param>
-<param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.005</field>
-<field name="Units">m/s/s/s</field>
-<field name="UnitText">meters per cubic second</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 2.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-</param>
-<param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-<param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
-<field name="Range">50 200</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-</param>
-<param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
-<field name="Range">0.5 50.0</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Bitmask controlling sidelip angle fusion" name="EK3_BETA_MASK" documentation="1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected  whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary." user="Advanced">
-<field name="Bitmask">0:Always,1:WhenNoYawSensor</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad</field>
-<field name="UnitText">radians</field>
-</param>
-<param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-<field name="Units">cs</field>
-<field name="UnitText">centiseconds</field>
-</param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">Gauss/s</field>
-<field name="UnitText">gauss per second</field>
-</param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">Gauss/s</field>
-<field name="UnitText">gauss per second</field>
-</param>
-<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
-<field name="Range">-1 70</field>
-<field name="Increment">1</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-</param>
-<param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
-<field name="Range">0 0.2</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon 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." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="RebootRequired">True</field>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-</param>
-<param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
-<field name="Range">2.0 6.0</field>
-<field name="Increment">0.5</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
-<field name="Range">0.5 2.5</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-</param>
-<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
-<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Bitmask control of EKF reference height correction" name="EK3_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
-<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Visual odometry minimum velocity error" name="EK3_VIS_VERR_MIN" documentation="This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
-<field name="Range">0.05 0.5</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="Visual odometry maximum velocity error" name="EK3_VIS_VERR_MAX" documentation="This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="Wheel odometry velocity error" name="EK3_WENC_VERR" documentation="This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-</param>
-<param humanName="Optical flow use bitmask" name="EK3_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Navigation</value>
-<value code="2">Terrain</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Height rate filter crossover frequency" name="EK3_HRT_FILT" documentation="Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.">
-<field name="Range">0.1 30.0</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="RebootRequired">False</field>
-</param>
-<param humanName="EarthField error limit" name="EK3_MAG_EF_LIM" documentation="This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Units">mGauss</field>
-<field name="UnitText">milligauss</field>
-</param>
-<param humanName="Bitmask of which EKF-GSF yaw estimators run" name="EK3_GSF_RUN_MASK" documentation="1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE, EK3_GSF_DELAY and EK3_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. " user="Advanced">
-<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Bitmask of which EKF-GSF yaw estimators are used" name="EK3_GSF_USE_MASK" documentation="1 byte bitmap of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. Additionally the EKF3 will  initiate a reset internally if navigation is lost for more than EK3_GSF_DELAY milli seconds." user="Advanced">
-<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK3_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter." user="Advanced">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="EKF3 Lane Relative Error Sensitivity Threshold" name="EK3_ERR_THRESH" documentation="lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences" user="Advanced">
-<field name="Range">0.05 1</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="EKF3 Sensor Affinity Options" name="EK3_AFFINITY" documentation="These options control the affinity between sensor instances and EKF cores" user="Advanced">
-<field name="Bitmask">0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Ballistic coefficient for X axis drag" name="EK3_DRAG_BCOEF_X" documentation="Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value &gt; 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter." user="Advanced">
-<field name="Range">0.0 1000.0</field>
-<field name="Units">kg/m/m</field>
-<field name="UnitText">kilograms per square meter</field>
-</param>
-<param humanName="Ballistic coefficient for Y axis drag" name="EK3_DRAG_BCOEF_Y" documentation="Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value &gt; 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter." user="Advanced">
-<field name="Range">50.0 1000.0</field>
-<field name="Units">kg/m/m</field>
-<field name="UnitText">kilograms per square meter</field>
-</param>
-<param humanName="Observation noise for drag acceleration" name="EK3_DRAG_M_NSE" documentation="This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters" user="Advanced">
-<field name="Range">0.1 2.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-</param>
-<param humanName="Momentum coefficient for propeller drag" name="EK3_DRAG_MCOEF" documentation="This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">1/s</field>
-<field name="UnitText">per second</field>
-</param>
-<param humanName="On ground not moving test scale factor" name="EK3_OGNM_TEST_SF" documentation="This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels." user="Advanced">
-<field name="Range">1.0 10.0</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Baro height ground effect dead zone" name="EK3_GND_EFF_DZ" documentation="This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. " user="Advanced">
-<field name="Range">0.0 10.0</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Primary core number" name="EK3_PRIMARY" documentation="The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK." user="Advanced">
-<field name="Range">0 2</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="EK3_SRC">
-<param humanName="Position Horizontal Source (Primary)" name="EK3_SRC1_POSXY" documentation="Position Horizontal Source (Primary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="6">ExternalNav</value>
-</values>
-</param>
-<param humanName="Velocity Horizontal Source" name="EK3_SRC1_VELXY" documentation="Velocity Horizontal Source" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="5">OpticalFlow</value>
-<value code="6">ExternalNav</value>
-<value code="7">WheelEncoder</value>
-</values>
-</param>
-<param humanName="Position Vertical Source" name="EK3_SRC1_POSZ" documentation="Position Vertical Source" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Baro</value>
-<value code="2">RangeFinder</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="6">ExternalNav</value>
-</values>
-</param>
-<param humanName="Velocity Vertical Source" name="EK3_SRC1_VELZ" documentation="Velocity Vertical Source" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="6">ExternalNav</value>
-</values>
-</param>
-<param humanName="Yaw Source" name="EK3_SRC1_YAW" documentation="Yaw Source" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Compass</value>
-<value code="2">GPS</value>
-<value code="3">GPS with Compass Fallback</value>
-<value code="6">ExternalNav</value>
-<value code="8">GSF</value>
-</values>
-</param>
-<param humanName="Position Horizontal Source (Secondary)" name="EK3_SRC2_POSXY" documentation="Position Horizontal Source (Secondary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="6">ExternalNav</value>
-</values>
-</param>
-<param humanName="Velocity Horizontal Source (Secondary)" name="EK3_SRC2_VELXY" documentation="Velocity Horizontal Source (Secondary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="5">OpticalFlow</value>
-<value code="6">ExternalNav</value>
-<value code="7">WheelEncoder</value>
-</values>
-</param>
-<param humanName="Position Vertical Source (Secondary)" name="EK3_SRC2_POSZ" documentation="Position Vertical Source (Secondary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Baro</value>
-<value code="2">RangeFinder</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="6">ExternalNav</value>
-</values>
-</param>
-<param humanName="Velocity Vertical Source (Secondary)" name="EK3_SRC2_VELZ" documentation="Velocity Vertical Source (Secondary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="6">ExternalNav</value>
-</values>
-</param>
-<param humanName="Yaw Source (Secondary)" name="EK3_SRC2_YAW" documentation="Yaw Source (Secondary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Compass</value>
-<value code="2">GPS</value>
-<value code="3">GPS with Compass Fallback</value>
-<value code="6">ExternalNav</value>
-<value code="8">GSF</value>
-</values>
-</param>
-<param humanName="Position Horizontal Source (Tertiary)" name="EK3_SRC3_POSXY" documentation="Position Horizontal Source (Tertiary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="6">ExternalNav</value>
-</values>
-</param>
-<param humanName="Velocity Horizontal Source (Tertiary)" name="EK3_SRC3_VELXY" documentation="Velocity Horizontal Source (Tertiary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="5">OpticalFlow</value>
-<value code="6">ExternalNav</value>
-<value code="7">WheelEncoder</value>
-</values>
-</param>
-<param humanName="Position Vertical Source (Tertiary)" name="EK3_SRC3_POSZ" documentation="Position Vertical Source (Tertiary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Baro</value>
-<value code="2">RangeFinder</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="6">ExternalNav</value>
-</values>
-</param>
-<param humanName="Velocity Vertical Source (Tertiary)" name="EK3_SRC3_VELZ" documentation="Velocity Vertical Source (Tertiary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="3">GPS</value>
-<value code="4">Beacon</value>
-<value code="6">ExternalNav</value>
-</values>
-</param>
-<param humanName="Yaw Source (Tertiary)" name="EK3_SRC3_YAW" documentation="Yaw Source (Tertiary)" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Compass</value>
-<value code="2">GPS</value>
-<value code="3">GPS with Compass Fallback</value>
-<value code="6">ExternalNav</value>
-<value code="8">GSF</value>
-</values>
-</param>
-<param humanName="EKF Source Options" name="EK3_SRC_OPTIONS" documentation="EKF Source Options" user="Advanced">
-<field name="Bitmask">0:FuseAllVelocities</field>
-</param>
-</parameters>
-<parameters name="FENCE_">
-<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<field name="Bitmask">0:Max altitude,1:Circle,2:Polygon,3:Min altitude</field>
-</param>
-<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
-<values>
-<value code="0">Report Only</value>
-<value code="1">RTL or Land</value>
-</values>
-</param>
-<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">10 1000</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">30 10000</field>
-</param>
-<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">1 10</field>
-</param>
-<param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
-<field name="Range">1 20</field>
-</param>
-<param humanName="Fence Minimum Altitude" name="FENCE_ALT_MIN" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="FFT_">
-<param humanName="Enable" name="FFT_ENABLE" documentation="Enable Gyro FFT analyser" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Minimum Frequency" name="FFT_MINHZ" documentation="Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles." user="Advanced">
-<field name="Range">20 400</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Maximum Frequency" name="FFT_MAXHZ" documentation="Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles." user="Advanced">
-<field name="Range">20 495</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Sample Mode" name="FFT_SAMPLE_MODE" documentation="Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot." user="Advanced">
-<field name="Range">0 4</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="FFT window size" name="FFT_WINDOW_SIZE" documentation="Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class." user="Advanced">
-<field name="Range">32 1024</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="FFT window overlap" name="FFT_WINDOW_OLAP" documentation="Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges." user="Advanced">
-<field name="Range">0 0.9</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="FFT learned hover frequency" name="FFT_FREQ_HOVER" documentation="The learned hover noise frequency" user="Advanced">
-<field name="Range">0 250</field>
-</param>
-<param humanName="FFT learned thrust reference" name="FFT_THR_REF" documentation="FFT learned thrust reference for the hover frequency and FFT minimum frequency." user="Advanced">
-<field name="Range">0.01 0.9</field>
-</param>
-<param humanName="FFT SNR reference threshold" name="FFT_SNR_REF" documentation="FFT SNR reference threshold in dB at which a signal is determined to be present." user="Advanced">
-<field name="Range">0.0 100.0</field>
-</param>
-<param humanName="FFT attenuation for bandwidth calculation" name="FFT_ATT_REF" documentation="FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight." user="Advanced">
-<field name="Range">0 100</field>
-</param>
-<param humanName="FFT learned bandwidth at hover" name="FFT_BW_HOVER" documentation="FFT learned bandwidth at hover for the attenuation frequencies." user="Advanced">
-<field name="Range">0 200</field>
-</param>
-<param humanName="FFT harmonic fit frequency threshold" name="FFT_HMNC_FIT" documentation="FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching." user="Advanced">
-<field name="Range">0 100</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="FFT harmonic peak target" name="FFT_HMNC_PEAK" documentation="The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll)." user="Advanced">
-<values>
-<value code="0">Auto</value>
-<value code="1">Center Frequency</value>
-<value code="2">Lower-Shoulder Frequency</value>
-<value code="3">Upper-Shoulder Frequency</value>
-<value code="4">Roll-Axis</value>
-<value code="5">Pitch-Axis</value>
-</values>
-</param>
-</parameters>
-<parameters name="FLOW">
-<param humanName="Optical flow sensor type" name="FLOW_TYPE" documentation="Optical flow sensor type" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">PX4Flow</value>
-<value code="2">Pixart</value>
-<value code="3">Bebop</value>
-<value code="4">CXOF</value>
-<value code="5">MAVLink</value>
-<value code="6">UAVCAN</value>
-<value code="7">MSP</value>
-<value code="8">UPFLOW</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="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." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="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." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-17999 +18000</field>
-<field name="Increment">10</field>
-</param>
-<param humanName=" X position offset" name="FLOW_POS_X" documentation="X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="FLOW_POS_Y" documentation="Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="FLOW_POS_Z" documentation="Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Address on the bus" name="FLOW_ADDR" documentation="This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
-<field name="Range">0 127</field>
-</param>
-</parameters>
-<parameters name="FRSKY_">
-<param humanName="Uplink sensor id" name="FRSKY_UPLINK_ID" documentation="Change the uplink sensor id (SPort only)" user="Advanced">
-<values>
-<value code="-1">Disable</value>
-<value code="7">7</value>
-<value code="8">8</value>
-<value code="9">9</value>
-<value code="10">10</value>
-<value code="11">11</value>
-<value code="12">12</value>
-<value code="13">13</value>
-<value code="14">14</value>
-<value code="15">15</value>
-<value code="16">16</value>
-<value code="17">17</value>
-<value code="18">18</value>
-<value code="19">19</value>
-<value code="20">20</value>
-<value code="21">21</value>
-<value code="22">22</value>
-<value code="23">23</value>
-<value code="24">24</value>
-<value code="25">25</value>
-<value code="26">26</value>
-</values>
-</param>
-<param humanName="First downlink sensor id" name="FRSKY_DNLINK1_ID" documentation="Change the first extra downlink sensor id (SPort only)" user="Advanced">
-<values>
-<value code="-1">Disable</value>
-<value code="7">7</value>
-<value code="8">8</value>
-<value code="9">9</value>
-<value code="10">10</value>
-<value code="11">11</value>
-<value code="12">12</value>
-<value code="13">13</value>
-<value code="14">14</value>
-<value code="15">15</value>
-<value code="16">16</value>
-<value code="17">17</value>
-<value code="18">18</value>
-<value code="19">19</value>
-<value code="20">20</value>
-<value code="21">21</value>
-<value code="22">22</value>
-<value code="23">23</value>
-<value code="24">24</value>
-<value code="25">25</value>
-<value code="26">26</value>
-</values>
-</param>
-<param humanName="Second downlink sensor id" name="FRSKY_DNLINK2_ID" documentation="Change the second extra downlink sensor id (SPort only)" user="Advanced">
-<values>
-<value code="-1">Disable</value>
-<value code="7">7</value>
-<value code="8">8</value>
-<value code="9">9</value>
-<value code="10">10</value>
-<value code="11">11</value>
-<value code="12">12</value>
-<value code="13">13</value>
-<value code="14">14</value>
-<value code="15">15</value>
-<value code="16">16</value>
-<value code="17">17</value>
-<value code="18">18</value>
-<value code="19">19</value>
-<value code="20">20</value>
-<value code="21">21</value>
-<value code="22">22</value>
-<value code="23">23</value>
-<value code="24">24</value>
-<value code="25">25</value>
-<value code="26">26</value>
-</values>
-</param>
-<param humanName="Default downlink sensor id" name="FRSKY_DNLINK_ID" documentation="Change the default downlink sensor id (SPort only)" user="Advanced">
-<values>
-<value code="-1">Disable</value>
-<value code="7">7</value>
-<value code="8">8</value>
-<value code="9">9</value>
-<value code="10">10</value>
-<value code="11">11</value>
-<value code="12">12</value>
-<value code="13">13</value>
-<value code="14">14</value>
-<value code="15">15</value>
-<value code="16">16</value>
-<value code="17">17</value>
-<value code="18">18</value>
-<value code="19">19</value>
-<value code="20">20</value>
-<value code="21">21</value>
-<value code="22">22</value>
-<value code="23">23</value>
-<value code="24">24</value>
-<value code="25">25</value>
-<value code="26">26</value>
-<value code="27">27</value>
-</values>
-</param>
-</parameters>
-<parameters name="GEN_">
-<param humanName="Generator type" name="GEN_TYPE" documentation="Generator type" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">IE 650w 800w Fuel Cell</value>
-<value code="2">IE 2.4kW Fuel Cell</value>
-<value code="3">Richenpower</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="GPS">
-<param humanName="1st GPS type" name="GPS_TYPE" documentation="GPS type of 1st GPS" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-<value code="13">ERB</value>
-<value code="14">MAV</value>
-<value code="15">NOVA</value>
-<value code="16">HemisphereNMEA</value>
-<value code="17">uBlox-MovingBaseline-Base</value>
-<value code="18">uBlox-MovingBaseline-Rover</value>
-<value code="19">MSP</value>
-<value code="20">AllyStar</value>
-<value code="21">ExternalAHRS</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-<value code="13">ERB</value>
-<value code="14">MAV</value>
-<value code="15">NOVA</value>
-<value code="16">HemisphereNMEA</value>
-<value code="17">uBlox-MovingBaseline-Base</value>
-<value code="18">uBlox-MovingBaseline-Rover</value>
-<value code="19">MSP</value>
-<value code="20">AllyStar</value>
-<value code="21">ExternalAHRS</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
-<values>
-<value code="0">Portable</value>
-<value code="2">Stationary</value>
-<value code="3">Pedestrian</value>
-<value code="4">Automotive</value>
-<value code="5">Sea</value>
-<value code="6">Airborne1G</value>
-<value code="7">Airborne2G</value>
-<value code="8">Airborne4G</value>
-</values>
-</param>
-<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary" user="Advanced">
-<values>
-<value code="0">Use primary</value>
-<value code="1">UseBest</value>
-<value code="2">Blend</value>
-<value code="4">Use primary if 3D fix or better</value>
-</values>
-</param>
-<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
-<values>
-<value code="0">Any</value>
-<value code="50">FloatRTK</value>
-<value code="100">IntegerRTK</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="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." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="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." user="Advanced">
-<field name="Range">-100 90</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
-<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
-<values>
-<value code="0">send to first GPS</value>
-<value code="1">send to 2nd GPS</value>
-<value code="127">send to all</value>
-</values>
-</param>
-<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
-<values>
-<value code="0">None (0x0000)</value>
-<value code="-1">All (0xFFFF)</value>
-<value code="-256">External only (0xFF00)</value>
-</values>
-</param>
-<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
-<values>
-<value code="0">Ignore</value>
-<value code="1">Always log</value>
-<value code="2">Stop logging when disarmed (SBF only)</value>
-<value code="5">Only log every five samples (uBlox only)</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS</field>
-</param>
-<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
-<values>
-<value code="0">Do not save config</value>
-<value code="1">Save config</value>
-<value code="2">Save only when needed</value>
-</values>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS</field>
-</param>
-<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
-<values>
-<value code="0">Disables automatic configuration</value>
-<value code="1">Enable automatic configuration</value>
-</values>
-</param>
-<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance." user="Advanced">
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<values>
-<value code="100">10Hz</value>
-<value code="125">8Hz</value>
-<value code="200">5Hz</value>
-</values>
-<field name="Range">50 200</field>
-</param>
-<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance." user="Advanced">
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<values>
-<value code="100">10Hz</value>
-<value code="125">8Hz</value>
-<value code="200">5Hz</value>
-</values>
-<field name="Range">50 200</field>
-</param>
-<param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="Range">0 250</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="Range">0 250</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)" user="Advanced">
-<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
-</param>
-<param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Range">5.0 30.0</field>
-</param>
-<param humanName="driver options" name="GPS_DRV_OPTIONS" documentation="Additional backend specific options" user="Advanced">
-<field name="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200</field>
-</param>
-<param humanName="GPS physical COM port" name="GPS_COM_PORT" documentation="The physical COM port on the connected device, currently only applies to SBF GPS" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GPS physical COM port" name="GPS_COM_PORT2" documentation="The physical COM port on the connected device, currently only applies to SBF GPS" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Primary GPS" name="GPS_PRIMARY" documentation="This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4." user="Advanced">
-<field name="Increment">1</field>
-<values>
-<value code="0">FirstGPS</value>
-<value code="1">SecondGPS</value>
-</values>
-</param>
-<param humanName="GPS Node ID 1" name="GPS_CAN_NODEID1" documentation="GPS Node id for discovered first." user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="GPS Node ID 2" name="GPS_CAN_NODEID2" documentation="GPS Node id for discovered second." user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="First UAVCAN GPS NODE ID" name="GPS1_CAN_OVRIDE" documentation="GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis." user="Advanced">
-</param>
-<param humanName="Second UAVCAN GPS NODE ID" name="GPS2_CAN_OVRIDE" documentation="GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis." user="Advanced">
-</param>
-</parameters>
-<parameters name="GPS_MB1_">
-<param humanName="Moving base type" name="GPS_MB1_TYPE" documentation="Controls the type of moving base used if using moving base." user="Advanced">
-<values>
-<value code="0">Relative to alternate GPS instance</value>
-<value code="1">RelativeToCustomBase</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Base antenna X position offset" name="GPS_MB1_OFS_X" documentation="X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Base antenna Y position offset    " name="GPS_MB1_OFS_Y" documentation="Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Base antenna Z position offset" name="GPS_MB1_OFS_Z" documentation="Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-</parameters>
-<parameters name="GPS_MB2_">
-<param humanName="Moving base type" name="GPS_MB2_TYPE" documentation="Controls the type of moving base used if using moving base." user="Advanced">
-<values>
-<value code="0">Relative to alternate GPS instance</value>
-<value code="1">RelativeToCustomBase</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Base antenna X position offset" name="GPS_MB2_OFS_X" documentation="X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Base antenna Y position offset    " name="GPS_MB2_OFS_Y" documentation="Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Base antenna Z position offset" name="GPS_MB2_OFS_Z" documentation="Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-</parameters>
-<parameters name="GRIP_">
-<param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Servo</value>
-<value code="2">EPM</value>
-</values>
-</param>
-<param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value in microseconds sent to grabber when not grabbing or releasing" user="Advanced">
-<field name="Range">1000 2000</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
-<field name="Range">0 255</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-</param>
-<param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
-<field name="Range">0 255</field>
-</param>
-</parameters>
-<parameters name="INS_">
-<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
-<field name="Units">rad/s</field>
-<field name="UnitText">radians per second</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
-<field name="Range">0.8 1.2</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
-<field name="Range">0.8 1.2</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
-<field name="Range">0.8 1.2</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">-3.5 3.5</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">-3.5 3.5</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">-3.5 3.5</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
-<field name="Range">0.8 1.2</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
-<field name="Range">0.8 1.2</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
-<field name="Range">0.8 1.2</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">-3.5 3.5</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">-3.5 3.5</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">-3.5 3.5</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
-<field name="Range">0.8 1.2</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
-<field name="Range">0.8 1.2</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
-<field name="Range">0.8 1.2</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">-3.5 3.5</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">-3.5 3.5</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-<field name="Range">-3.5 3.5</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 256</field>
-</param>
-<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 256</field>
-</param>
-<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
-<field name="Range">0.05 50</field>
-</param>
-<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code="1">Start-up only</value>
-</values>
-</param>
-<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
-<values>
-<value code="0">Don't adjust the trims</value>
-<value code="1">Assume first orientation was level</value>
-<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
-</values>
-</param>
-<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
-<values>
-<value code="1">IMU 1</value>
-<value code="2">IMU 2</value>
-<value code="3">IMU 3</value>
-</values>
-</param>
-<param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-10 10</field>
-</param>
-<param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
-</param>
-<param humanName="IMU enable mask" name="INS_ENABLE_MASK" documentation="Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs" user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
-</param>
-<param humanName="Gyro rate for IMUs with Fast Sampling enabled" name="INS_GYRO_RATE" documentation="Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used." user="Advanced">
-<values>
-<value code="0">1kHz</value>
-<value code="1">2kHz</value>
-<value code="2">4kHz</value>
-<value code="3">8kHz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Calibration temperature for 1st accelerometer" name="INS_ACC1_CALTEMP" documentation="Temperature that the 1st accelerometer was calibrated at" user="Advanced" calibration="1">
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Calibration temperature for 1st gyroscope" name="INS_GYR1_CALTEMP" documentation="Temperature that the 1st gyroscope was calibrated at" user="Advanced" calibration="1">
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Calibration temperature for 2nd accelerometer" name="INS_ACC2_CALTEMP" documentation="Temperature that the 2nd accelerometer was calibrated at" user="Advanced" calibration="1">
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Calibration temperature for 2nd gyroscope" name="INS_GYR2_CALTEMP" documentation="Temperature that the 2nd gyroscope was calibrated at" user="Advanced" calibration="1">
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Calibration temperature for 3rd accelerometer" name="INS_ACC3_CALTEMP" documentation="Temperature that the 3rd accelerometer was calibrated at" user="Advanced" calibration="1">
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Calibration temperature for 3rd gyroscope" name="INS_GYR3_CALTEMP" documentation="Temperature that the 3rd gyroscope was calibrated at" user="Advanced" calibration="1">
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Options for temperature calibration" name="INS_TCAL_OPTIONS" documentation="This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader." user="Advanced">
-<field name="Bitmask">0:PersistParams</field>
-</param>
-</parameters>
-<parameters name="INS_HNTCH_">
-<param humanName="Harmonic Notch Filter enable" name="INS_HNTCH_ENABLE" documentation="Harmonic Notch Filter enable" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Harmonic Notch Filter base frequency" name="INS_HNTCH_FREQ" documentation="Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter.  Recommend setting it to half the operating rotor speed in Hz." user="Advanced">
-<field name="Range">10 495</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Harmonic Notch Filter bandwidth" name="INS_HNTCH_BW" documentation="Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics." user="Advanced">
-<field name="Range">5 250</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Harmonic Notch Filter attenuation" name="INS_HNTCH_ATT" documentation="Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise." user="Advanced">
-<field name="Range">5 50</field>
-<field name="Units">dB</field>
-<field name="UnitText">decibel</field>
-</param>
-<param humanName="Harmonic Notch Filter harmonics" name="INS_HNTCH_HMNCS" documentation="Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time." user="Advanced">
-<field name="Bitmask">0:1st harmonic,1:2nd harmonic,2:3rd harmonic,3:4th hamronic,4:5th harmonic,5:6th harmonic,6:7th harmonic,7:8th harmonic</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Harmonic Notch Filter reference value" name="INS_HNTCH_REF" documentation="A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter.  For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter.  This reference value may also be used to scale the sensor data, if required.  For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Harmonic Notch Filter dynamic frequency tracking mode" name="INS_HNTCH_MODE" documentation="Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters." user="Advanced">
-<field name="Range">0 4</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Throttle</value>
-<value code="2">RPM Sensor</value>
-<value code="3">ESC Telemetry</value>
-<value code="4">Dynamic FFT</value>
-</values>
-</param>
-<param humanName="Harmonic Notch Filter options" name="INS_HNTCH_OPTS" documentation="Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz." user="Advanced">
-<field name="Bitmask">0:Double notch,1:Dynamic harmonic,2:Update at loop rate</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="INS_LOG_">
-<param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32. This option takes effect on the next reboot." user="Advanced">
-<field name="Increment">32</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot." user="Advanced">
-<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time." user="Advanced">
-<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering</field>
-</param>
-<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the AP_Logger log">
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="INS_NOTCH_">
-<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
-<field name="Range">5 30</field>
-<field name="Units">dB</field>
-<field name="UnitText">decibel</field>
-</param>
-<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
-<field name="Range">10 400</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
-<field name="Range">5 100</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-</parameters>
-<parameters name="INS_TCAL1_">
-<param humanName="Enable temperature calibration" name="INS_TCAL1_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">LearnCalibration</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Temperature calibration min" name="INS_TCAL1_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
-<field name="Range">-70 80</field>
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Temperature calibration max" name="INS_TCAL1_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
-<field name="Range">-70 80</field>
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL1_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL1_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL1_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL1_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL1_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL1_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL1_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL1_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL1_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL1_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL1_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL1_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL1_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL1_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL1_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL1_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL1_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL1_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-</parameters>
-<parameters name="INS_TCAL2_">
-<param humanName="Enable temperature calibration" name="INS_TCAL2_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">LearnCalibration</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Temperature calibration min" name="INS_TCAL2_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
-<field name="Range">-70 80</field>
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Temperature calibration max" name="INS_TCAL2_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
-<field name="Range">-70 80</field>
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL2_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL2_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL2_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL2_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL2_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL2_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL2_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL2_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL2_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL2_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL2_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL2_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL2_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL2_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL2_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL2_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL2_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL2_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-</parameters>
-<parameters name="INS_TCAL3_">
-<param humanName="Enable temperature calibration" name="INS_TCAL3_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">LearnCalibration</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Temperature calibration min" name="INS_TCAL3_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
-<field name="Range">-70 80</field>
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Temperature calibration max" name="INS_TCAL3_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
-<field name="Range">-70 80</field>
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL3_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL3_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL3_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL3_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL3_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL3_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL3_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL3_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL3_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL3_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL3_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL3_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL3_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL3_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL3_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL3_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL3_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL3_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
-<field name="Calibration">1</field>
-</param>
-</parameters>
-<parameters name="LEAK">
-<param humanName="Pin that leak detector is connected to" name="LEAK1_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk Aux1</value>
-<value code="51">Pixhawk Aux2</value>
-<value code="52">Pixhawk Aux3</value>
-<value code="53">Pixhawk Aux4</value>
-<value code="54">Pixhawk Aux5</value>
-<value code="55">Pixhawk Aux6</value>
-<value code="13">Pixhawk 3.3ADC1</value>
-<value code="14">Pixhawk 3.3ADC2</value>
-<value code="15">Pixhawk 6.6ADC</value>
-<value code="27">Navigator Built-In</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Default reading of leak detector when dry" name="LEAK1_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
-<values>
-<value code="0">Low</value>
-<value code="1">High</value>
-</values>
-</param>
-<param humanName="Pin that leak detector is connected to" name="LEAK2_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk Aux1</value>
-<value code="51">Pixhawk Aux2</value>
-<value code="52">Pixhawk Aux3</value>
-<value code="53">Pixhawk Aux4</value>
-<value code="54">Pixhawk Aux5</value>
-<value code="55">Pixhawk Aux6</value>
-<value code="13">Pixhawk 3.3ADC1</value>
-<value code="14">Pixhawk 3.3ADC2</value>
-<value code="15">Pixhawk 6.6ADC</value>
-<value code="27">Navigator Leak1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Default reading of leak detector when dry" name="LEAK2_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
-<values>
-<value code="0">Low</value>
-<value code="1">High</value>
-</values>
-</param>
-<param humanName="Pin that leak detector is connected to" name="LEAK3_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk Aux1</value>
-<value code="51">Pixhawk Aux2</value>
-<value code="52">Pixhawk Aux3</value>
-<value code="53">Pixhawk Aux4</value>
-<value code="54">Pixhawk Aux5</value>
-<value code="55">Pixhawk Aux6</value>
-<value code="13">Pixhawk 3.3ADC1</value>
-<value code="14">Pixhawk 3.3ADC2</value>
-<value code="15">Pixhawk 6.6ADC</value>
-<value code="27">Navigator Leak1</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Default reading of leak detector when dry" name="LEAK3_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
-<values>
-<value code="0">Low</value>
-<value code="1">High</value>
-</values>
-</param>
-</parameters>
-<parameters name="LOG">
-<param humanName="AP_Logger Backend Storage type" name="LOG_BACKEND_TYPE" documentation="Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected." user="Standard">
-<field name="Bitmask">0:File,1:MAVLink,2:Block</field>
-</param>
-<param humanName="Maximum AP_Logger File and Block Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation="The File and Block backends use a buffer to store data before writing to the block device.  Raising this value may reduce &quot;gaps&quot; in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes." user="Standard">
-</param>
-<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Maximum AP_Logger MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to AP_Logger-over-mavlink" user="Advanced">
-<field name="Units">kB</field>
-<field name="UnitText">kilobytes</field>
-</param>
-<param humanName="Timeout before giving up on file writes" name="LOG_FILE_TIMEOUT" documentation="This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped." user="Standard">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-</param>
-<param humanName="Old logs on the SD card will be deleted to maintain this amount of free space" name="LOG_FILE_MB_FREE" documentation="Set this such that the free space is larger than your largest typical flight log" user="Standard">
-<field name="Units">MB</field>
-<field name="UnitText">megabyte</field>
-<field name="Range">10 1000</field>
-</param>
-</parameters>
-<parameters name="LOIT_">
-<param humanName="Loiter Angle Max" name="LOIT_ANG_MAX" documentation="Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX" user="Advanced">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Loiter Horizontal Maximum Speed" name="LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Units">cm/s</field>
-<field name="UnitText">centimeters per second</field>
-<field name="Range">20 3500</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Loiter maximum correction acceleration" name="LOIT_ACC_MAX" documentation="Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively." user="Advanced">
-<field name="Units">cm/s/s</field>
-<field name="UnitText">centimeters per square second</field>
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Loiter braking acceleration" name="LOIT_BRK_ACCEL" documentation="Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered." user="Advanced">
-<field name="Units">cm/s/s</field>
-<field name="UnitText">centimeters per square second</field>
-<field name="Range">25 250</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Loiter braking jerk" name="LOIT_BRK_JERK" documentation="Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver." user="Advanced">
-<field name="Units">cm/s/s/s</field>
-<field name="UnitText">centimeters per cubic second</field>
-<field name="Range">500 5000</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Loiter brake start delay (in seconds)" name="LOIT_BRK_DELAY" documentation="Loiter brake start delay (in seconds)" user="Advanced">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Range">0 2</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="MIS_">
-<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">0 32766</field>
-<field name="Increment">1</field>
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
-<values>
-<value code="0">Resume Mission</value>
-<value code="1">Restart Mission</value>
-</values>
-</param>
-<param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
-<field name="Bitmask">0:Clear Mission on reboot</field>
-</param>
-</parameters>
-<parameters name="MNT">
-<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Servo</value>
-<value code="2">3DR Solo</value>
-<value code="3">Alexmos Serial</value>
-<value code="4">SToRM32 MAVLink</value>
-<value code="5">SToRM32 Serial</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="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." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="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." user="Standard">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-</param>
-<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="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." user="Standard">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-</param>
-<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
-<field name="Units">cdeg</field>
-<field name="UnitText">centidegrees</field>
-<field name="Range">-18000 17999</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="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." user="Standard">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-</param>
-<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="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." user="Standard">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-</param>
-<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Servo</value>
-<value code="2">3DR Solo</value>
-<value code="3">Alexmos Serial</value>
-<value code="4">SToRM32 MAVLink</value>
-<value code="5">SToRM32 Serial</value>
-</values>
-</param>
-</parameters>
-<parameters name="MOT_">
-<param humanName="Motor normal or reverse" name="MOT_1_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_2_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_3_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_4_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_5_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_6_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_7_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_8_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Forward/vertical to pitch decoupling factor" name="MOT_FV_CPLNG_K" documentation="Used to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal" user="Standard">
-<field name="Range">0.0 1.5</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_9_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_10_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_11_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Motor normal or reverse" name="MOT_12_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
-<values>
-<value code="1">normal</value>
-<value code="-1">reverse</value>
-</values>
-</param>
-<param humanName="Matrix Yaw Min" name="MOT_YAW_HEADROOM" documentation="Yaw control is given at least this pwm in microseconds range" user="Advanced">
-<field name="Range">0 500</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)" user="Advanced">
-<field name="Range">-1.0 1.0</field>
-</param>
-<param humanName="Motor Spin maximum" name="MOT_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
-<field name="Values">0.9:Low,0.95:Default,1.0:High</field>
-</param>
-<param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.2 * cell count, 0 = Disabled" user="Advanced">
-<field name="Range">6 53</field>
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.3 * cell count, 0 = Disabled" user="Advanced">
-<field name="Range">6 42</field>
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Motor Current Max" name="MOT_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">A</field>
-<field name="UnitText">ampere</field>
-</param>
-<param humanName="Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output" user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">OneShot</value>
-<value code="2">OneShot125</value>
-<value code="3">Brushed</value>
-<value code="4">DShot150</value>
-<value code="5">DShot300</value>
-<value code="6">DShot600</value>
-<value code="7">DShot1200</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="PWM output minimum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 2000</field>
-</param>
-<param humanName="PWM output maximum" name="MOT_PWM_MAX" documentation="This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 2000</field>
-</param>
-<param humanName="Motor Spin minimum" name="MOT_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM." user="Advanced">
-<field name="Values">0.0:Low,0.15:Default,0.3:High</field>
-</param>
-<param humanName="Motor Spin armed" name="MOT_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN." user="Advanced">
-<field name="Values">0.0:Low,0.1:Default,0.2:High</field>
-</param>
-<param humanName="Motor Current Max Time Constant" name="MOT_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-</param>
-<param humanName="Thrust Hover Value" name="MOT_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
-<field name="Range">0.2 0.8</field>
-</param>
-<param humanName="Hover Value Learning" name="MOT_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="Motor PWM output disabled when disarmed" name="MOT_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
-<values>
-<value code="0">PWM enabled while disarmed</value>
-<value code="1">PWM disabled while disarmed</value>
-</values>
-</param>
-<param humanName="Yaw Servo Max Lean Angle" name="MOT_YAW_SV_ANGLE" documentation="Yaw servo's maximum lean angle" user="Standard">
-<field name="Range">5 80</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Spool up time" name="MOT_SPOOL_TIME" documentation="Time in seconds to spool up the motors from zero to min throttle. " user="Advanced">
-<field name="Range">0 2</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Motor boost scale" name="MOT_BOOST_SCALE" documentation="Booster motor output scaling factor vs main throttle.  The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Battery compensation index" name="MOT_BAT_IDX" documentation="Which battery monitor should be used for doing compensation" user="Advanced">
-<values>
-<value code="0">First battery</value>
-<value code="1">Second battery</value>
-</values>
-</param>
-<param humanName="Output slew time for increasing throttle" name="MOT_SLEW_UP_TIME" documentation="Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5." user="Advanced">
-<field name="Range">0 .5</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Output slew time for decreasing throttle" name="MOT_SLEW_DN_TIME" documentation="Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change.  Range is constrained between 0 and 0.5." user="Advanced">
-<field name="Range">0 .5</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Time taken to disable and enable the motor PWM output when disarmed and armed." name="MOT_SAFE_TIME" documentation="Time taken to disable and enable the motor PWM output when disarmed and armed." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Increment">0.001</field>
-</param>
-</parameters>
-<parameters name="MSP">
-<param humanName="Cell count override" name="MSP_OSD_NCELLS" documentation="Used for average cell voltage calculation" user="Standard">
-<values>
-<value code="0">Auto</value>
-<value code="1">1</value>
-<value code="2">2</value>
-<value code="3">3</value>
-<value code="4">4</value>
-<value code="5">5</value>
-<value code="6">6</value>
-<value code="7">7</value>
-<value code="8">8</value>
-<value code="9">9</value>
-<value code="10">10</value>
-<value code="11">11</value>
-<value code="12">12</value>
-<value code="13">13</value>
-<value code="14">14</value>
-</values>
-</param>
-<param humanName="MSP OSD Options" name="MSP_OPTIONS" documentation="A bitmask to set some MSP specific options" user="Standard">
-<field name="Bitmask">0:EnableTelemetryMode</field>
-</param>
-</parameters>
-<parameters name="NTF_">
-<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
-<values>
-<value code="0">Off</value>
-<value code="1">Low</value>
-<value code="2">Medium</value>
-<value code="3">High</value>
-</values>
-</param>
-<param humanName="Buzzer Driver Types" name="NTF_BUZZ_TYPES" documentation="Controls what types of Buzzer will be enabled" user="Advanced">
-<field name="Bitmask">0:Built-in buzzer, 1:DShot, 2:UAVCAN</field>
-</param>
-<param humanName="Specifies colour source for the RGBLed" name="NTF_LED_OVERRIDE" documentation="Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially &quot;Green&quot; is disarmed (safe-to-approach), &quot;Red&quot; is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks." user="Advanced">
-<values>
-<value code="0">Standard</value>
-<value code="1">MAVLink/Scripting/AP_Periph</value>
-<value code="2">OutbackChallenge</value>
-<value code="3">TrafficLight</value>
-</values>
-</param>
-<param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">ssd1306</value>
-<value code="2">sh1106</value>
-<value code="10">SITL</value>
-</values>
-</param>
-<param humanName="OreoLED Theme" name="NTF_OREO_THEME" documentation="Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Aircraft</value>
-<value code="2">Rover</value>
-</values>
-</param>
-<param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="LED Driver Types" name="NTF_LED_TYPES" documentation="Controls what types of LEDs will be enabled" user="Advanced">
-<field name="Bitmask">0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot</field>
-</param>
-<param humanName="Buzzer-on pin logic level" name="NTF_BUZZ_ON_LVL" documentation="Specifies pin level that indicates buzzer should play" user="Advanced">
-<values>
-<value code="0">LowIsOn</value>
-<value code="1">HighIsOn</value>
-</values>
-</param>
-<param humanName="Buzzer volume" name="NTF_BUZZ_VOLUME" documentation="Control the volume of the buzzer">
-<field name="Range">0 100</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-</param>
-<param humanName="Serial LED String Length" name="NTF_LED_LEN" documentation="The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)" user="Advanced">
-<field name="Range">1 32</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="PRX">
-<param humanName="Proximity type" name="PRX_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="7">LightwareSF40c</value>
-<value code="1">LightWareSF40C-legacy</value>
-<value code="2">MAVLink</value>
-<value code="3">TeraRangerTower</value>
-<value code="4">RangeFinder</value>
-<value code="5">RPLidarA2</value>
-<value code="6">TeraRangerTowerEvo</value>
-<value code="8">LightwareSF45B</value>
-<value code="10">SITL</value>
-<value code="12">AirSimSITL</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Proximity sensor orientation" name="PRX_ORIENT" documentation="Proximity sensor orientation" user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">Upside Down</value>
-</values>
-</param>
-<param humanName="Proximity sensor yaw correction" name="PRX_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180 180</field>
-</param>
-<param humanName="Proximity sensor ignore angle 1" name="PRX_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 360</field>
-</param>
-<param humanName="Proximity sensor ignore width 1" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 127</field>
-</param>
-<param humanName="Proximity sensor ignore angle 2" name="PRX_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 360</field>
-</param>
-<param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 127</field>
-</param>
-<param humanName="Proximity sensor ignore angle 3" name="PRX_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 360</field>
-</param>
-<param humanName="Proximity sensor ignore width 3" name="PRX_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 127</field>
-</param>
-<param humanName="Proximity sensor ignore angle 4" name="PRX_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 360</field>
-</param>
-<param humanName="Proximity sensor ignore width 4" name="PRX_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 127</field>
-</param>
-<param humanName="Proximity sensor ignore angle 5" name="PRX_IGN_ANG5" documentation="Proximity sensor ignore angle 5" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 360</field>
-</param>
-<param humanName="Proximity sensor ignore width 5" name="PRX_IGN_WID5" documentation="Proximity sensor ignore width 5" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 127</field>
-</param>
-<param humanName="Proximity sensor ignore angle 6" name="PRX_IGN_ANG6" documentation="Proximity sensor ignore angle 6" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 360</field>
-</param>
-<param humanName="Proximity sensor ignore width 6" name="PRX_IGN_WID6" documentation="Proximity sensor ignore width 6" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 127</field>
-</param>
-<param humanName="Proximity raw distances log" name="PRX_LOG_RAW" documentation="Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled" user="Advanced">
-<values>
-<value code="0">Off</value>
-<value code="1">On</value>
-</values>
-</param>
-<param humanName="Proximity filter cutoff frequency" name="PRX_FILT" documentation="Cutoff frequency for low pass filter applied to each face in the proximity boundary" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 20</field>
-</param>
-</parameters>
-<parameters name="PSC">
-<param humanName="XY Acceleration filter cutoff frequency" name="PSC_ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0.5 5</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Position (vertical) controller P gain" name="PSC_POSZ_P" documentation="Position (vertical) 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" user="Standard">
-<field name="Range">1.000 3.000</field>
-</param>
-<param humanName="Velocity (vertical) controller P gain" name="PSC_VELZ_P" documentation="Velocity (vertical) 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" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Velocity (vertical) controller I gain" name="PSC_VELZ_I" documentation="Velocity (vertical) controller I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (vertical) controller I gain maximum" name="PSC_VELZ_IMAX" documentation="Velocity (vertical) controller I gain maximum.  Constrains the target acceleration that the I gain will output" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Velocity (vertical) controller D gain" name="PSC_VELZ_D" documentation="Velocity (vertical) controller D gain.  Corrects short-term changes in velocity" user="Advanced">
-<field name="Range">0.00 1.00</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Velocity (vertical) controller Feed Forward gain" name="PSC_VELZ_FF" documentation="Velocity (vertical) controller Feed Forward gain.  Produces an output that is proportional to the magnitude of the target" user="Advanced">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (vertical) error filter" name="PSC_VELZ_FLTE" documentation="Velocity (vertical) error filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Velocity (vertical) input filter for D term" name="PSC_VELZ_FLTD" documentation="Velocity (vertical) input filter for D term.  This filter (in Hz) is applied to the input for D terms" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Acceleration (vertical) controller P gain" name="PSC_ACCZ_P" documentation="Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.200 1.500</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Acceleration (vertical) controller I gain" name="PSC_ACCZ_I" documentation="Acceleration (vertical) controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
-<field name="Range">0.000 3.000</field>
-</param>
-<param humanName="Acceleration (vertical) controller I gain maximum" name="PSC_ACCZ_IMAX" documentation="Acceleration (vertical) controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">d%</field>
-<field name="UnitText">decipercent</field>
-</param>
-<param humanName="Acceleration (vertical) controller D gain" name="PSC_ACCZ_D" documentation="Acceleration (vertical) controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
-<field name="Range">0.000 0.400</field>
-</param>
-<param humanName="Acceleration (vertical) controller feed forward" name="PSC_ACCZ_FF" documentation="Acceleration (vertical) controller feed forward" user="Standard">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Acceleration (vertical) controller target frequency in Hz" name="PSC_ACCZ_FLTT" documentation="Acceleration (vertical) controller target frequency in Hz" user="Standard">
-<field name="Range">1 50</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Acceleration (vertical) controller error frequency in Hz" name="PSC_ACCZ_FLTE" documentation="Acceleration (vertical) controller error frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Acceleration (vertical) controller derivative frequency in Hz" name="PSC_ACCZ_FLTD" documentation="Acceleration (vertical) controller derivative frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Accel (vertical) slew rate limit" name="PSC_ACCZ_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
-<field name="Range">0 200</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Position (horizontal) controller P gain" name="PSC_POSXY_P" documentation="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" user="Standard">
-<field name="Range">0.500 2.000</field>
-</param>
-<param humanName="Velocity (horizontal) P gain" name="PSC_VELXY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired and actual velocity to a target acceleration" user="Advanced">
-<field name="Range">0.1 6.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Velocity (horizontal) I gain" name="PSC_VELXY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference between desired and actual velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (horizontal) D gain" name="PSC_VELXY_D" documentation="Velocity (horizontal) D gain.  Corrects short-term changes in velocity" user="Advanced">
-<field name="Range">0.00 1.00</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Velocity (horizontal) integrator maximum" name="PSC_VELXY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-<field name="UnitText">centimeters per square second</field>
-</param>
-<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FLTE" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FLTD" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Velocity (horizontal) feed forward gain" name="PSC_VELXY_FF" documentation="Velocity (horizontal) feed forward gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0 6</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Position Control Angle Max" name="PSC_ANGLE_MAX" documentation="Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value" user="Advanced">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Jerk limit for the horizontal kinematic input shaping" name="PSC_JERK_XY" documentation="Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
-<field name="Units">m/s/s/s</field>
-<field name="UnitText">meters per cubic second</field>
-<field name="Range">1 20</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Jerk limit for the vertical kinematic input shaping" name="PSC_JERK_Z" documentation="Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
-<field name="Units">m/s/s/s</field>
-<field name="UnitText">meters per cubic second</field>
-<field name="Range">5 50</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="RALLY_">
-<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
-</param>
-<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="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." user="Advanced">
-<field name="Units">km</field>
-<field name="UnitText">kilometers</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
-<values>
-<value code="0">DoNotIncludeHome</value>
-<value code="1">IncludeHome</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC">
-<param humanName="RC override timeout" name="RC_OVERRIDE_TIME" documentation="Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled" user="Advanced">
-<field name="Range">0.0 120.0</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-</param>
-<param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
-<field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection</field>
-</param>
-<param humanName="RC protocols enabled" name="RC_PROTOCOLS" documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols." user="Advanced">
-<field name="Bitmask">0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2</field>
-</param>
-</parameters>
-<parameters name="RC10_">
-<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC10_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC10_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC11_">
-<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC11_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC11_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC12_">
-<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC12_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC12_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC13_">
-<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC13_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC13_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC14_">
-<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC14_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC14_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC15_">
-<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC15_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC15_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC16_">
-<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC16_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC16_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC1_">
-<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC1_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC1_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC2_">
-<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC2_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC2_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC3_">
-<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC3_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC3_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC4_">
-<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC4_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC4_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC5_">
-<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC5_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC5_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC6_">
-<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC6_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC6_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC7_">
-<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC7_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC7_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC8_">
-<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC8_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC8_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RC9_">
-<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC reversed" name="RC9_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC9_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">0 200</field>
-</param>
-</parameters>
-<parameters name="RCMAP_">
-<param humanName="Roll channel" name="RCMAP_ROLL" documentation="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.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="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.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="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.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Yaw channel" name="RCMAP_YAW" documentation="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.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Forward channel" name="RCMAP_FORWARD" documentation="Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Lateral channel" name="RCMAP_LATERAL" documentation="Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="RELAY_">
-<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="49">BB Blue GP0 pin 4</value>
-<value code="50">AUXOUT1</value>
-<value code="51">AUXOUT2</value>
-<value code="52">AUXOUT3</value>
-<value code="53">AUXOUT4</value>
-<value code="54">AUXOUT5</value>
-<value code="55">AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
-<value code="113">BB Blue GP0 pin 6</value>
-<value code="116">BB Blue GP0 pin 5</value>
-<value code="27">BBBMini Pin P8.17</value>
-</values>
-</param>
-<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="49">BB Blue GP0 pin 4</value>
-<value code="50">AUXOUT1</value>
-<value code="51">AUXOUT2</value>
-<value code="52">AUXOUT3</value>
-<value code="53">AUXOUT4</value>
-<value code="54">AUXOUT5</value>
-<value code="55">AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
-<value code="113">BB Blue GP0 pin 6</value>
-<value code="116">BB Blue GP0 pin 5</value>
-<value code="65">BBBMini Pin P8.18</value>
-</values>
-</param>
-<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="49">BB Blue GP0 pin 4</value>
-<value code="50">AUXOUT1</value>
-<value code="51">AUXOUT2</value>
-<value code="52">AUXOUT3</value>
-<value code="53">AUXOUT4</value>
-<value code="54">AUXOUT5</value>
-<value code="55">AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
-<value code="113">BB Blue GP0 pin 6</value>
-<value code="116">BB Blue GP0 pin 5</value>
-<value code="22">BBBMini Pin P8.19</value>
-</values>
-</param>
-<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="49">BB Blue GP0 pin 4</value>
-<value code="50">AUXOUT1</value>
-<value code="51">AUXOUT2</value>
-<value code="52">AUXOUT3</value>
-<value code="53">AUXOUT4</value>
-<value code="54">AUXOUT5</value>
-<value code="55">AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
-<value code="113">BB Blue GP0 pin 6</value>
-<value code="116">BB Blue GP0 pin 5</value>
-<value code="63">BBBMini Pin P8.34</value>
-</values>
-</param>
-<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot." user="Standard">
-<values>
-<value code="0">Off</value>
-<value code="1">On</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-<param humanName="Fifth Relay Pin" name="RELAY_PIN5" documentation="Digital pin number for 5th relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="49">BB Blue GP0 pin 4</value>
-<value code="50">AUXOUT1</value>
-<value code="51">AUXOUT2</value>
-<value code="52">AUXOUT3</value>
-<value code="53">AUXOUT4</value>
-<value code="54">AUXOUT5</value>
-<value code="55">AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
-<value code="113">BB Blue GP0 pin 6</value>
-<value code="116">BB Blue GP0 pin 5</value>
-<value code="62">BBBMini Pin P8.13</value>
-</values>
-</param>
-<param humanName="Sixth Relay Pin" name="RELAY_PIN6" documentation="Digital pin number for 6th relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="49">BB Blue GP0 pin 4</value>
-<value code="50">AUXOUT1</value>
-<value code="51">AUXOUT2</value>
-<value code="52">AUXOUT3</value>
-<value code="53">AUXOUT4</value>
-<value code="54">AUXOUT5</value>
-<value code="55">AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
-<value code="113">BB Blue GP0 pin 6</value>
-<value code="116">BB Blue GP0 pin 5</value>
-<value code="37">BBBMini Pin P8.14</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND1_">
-<param humanName="Rangefinder type" name="RNGFND1_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND1_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND1_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND1_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND1_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND1_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND1_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND1_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFND1_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND1_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND1_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND1_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFND1_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFND1_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFND1_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFND1_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFND1_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND1_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND1_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND1_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND1_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND1_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND2_">
-<param humanName="Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND2_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFND2_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFND2_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFND2_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND2_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND2_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND2_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND2_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND2_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND3_">
-<param humanName="Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND3_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFND3_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFND3_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFND3_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND3_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND3_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND3_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND3_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND3_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND4_">
-<param humanName="Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND4_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFND4_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFND4_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFND4_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND4_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND4_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND4_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND4_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND4_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND5_">
-<param humanName="Rangefinder type" name="RNGFND5_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND5_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND5_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND5_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND5_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND5_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND5_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND5_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFND5_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND5_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND5_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND5_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFND5_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFND5_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFND5_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFND5_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFND5_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND5_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND5_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND5_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND5_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND5_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND6_">
-<param humanName="Rangefinder type" name="RNGFND6_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND6_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND6_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND6_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND6_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND6_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND6_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND6_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFND6_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND6_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND6_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND6_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFND6_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFND6_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFND6_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFND6_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFND6_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND6_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND6_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND6_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND6_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND6_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND7_">
-<param humanName="Rangefinder type" name="RNGFND7_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND7_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND7_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND7_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND7_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND7_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND7_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND7_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFND7_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND7_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND7_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND7_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFND7_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFND7_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFND7_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFND7_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFND7_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND7_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND7_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND7_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND7_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND7_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND8_">
-<param humanName="Rangefinder type" name="RNGFND8_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND8_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND8_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND8_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND8_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND8_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND8_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND8_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFND8_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND8_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND8_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND8_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFND8_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFND8_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFND8_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFND8_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFND8_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND8_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND8_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND8_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND8_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND8_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND9_">
-<param humanName="Rangefinder type" name="RNGFND9_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND9_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND9_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND9_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND9_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND9_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND9_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND9_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFND9_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND9_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND9_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND9_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFND9_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFND9_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFND9_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFND9_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFND9_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND9_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND9_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND9_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND9_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND9_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFNDA_">
-<param humanName="Rangefinder type" name="RNGFNDA_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">MaxbotixI2C</value>
-<value code="3">LidarLite-I2C</value>
-<value code="5">PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-<value code="11">uLanding</value>
-<value code="12">LeddarOne</value>
-<value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
-<value code="15">LidarLiteV3-I2C</value>
-<value code="16">VL53L0X or VL53L1X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">Benewake-Serial</value>
-<value code="21">LidarLightV3HP</value>
-<value code="22">PWM</value>
-<value code="23">BlueRoboticsPing</value>
-<value code="24">UAVCAN</value>
-<value code="25">BenewakeTFminiPlus-I2C</value>
-<value code="26">LanbaoPSK-CM8JL65-CC5</value>
-<value code="27">BenewakeTF03</value>
-<value code="28">VL53L1X-ShortRange</value>
-<value code="29">LeddarVu8-Serial</value>
-<value code="30">HC-SR04</value>
-<value code="31">GYUS42v2</value>
-<value code="32">MSP</value>
-<value code="33">USD1_CAN</value>
-<value code="100">SITL</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFNDA_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="11">PX4-airspeed port</value>
-<value code="15">Pixhawk-airspeed port</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFNDA_SCALING" documentation="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." user="Standard">
-<field name="Units">m/V</field>
-<field name="UnitText">meters per volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFNDA_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFNDA_FUNCTION" documentation="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." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFNDA_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFNDA_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFNDA_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Ratiometric" name="RNGFNDA_RMETRIC" documentation="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." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFNDA_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFNDA_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFNDA_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName=" X position offset" name="RNGFNDA_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Y position offset" name="RNGFNDA_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Z position offset" name="RNGFNDA_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rangefinder orientation" name="RNGFNDA_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="1">Forward-Right</value>
-<value code="2">Right</value>
-<value code="3">Back-Right</value>
-<value code="4">Back</value>
-<value code="5">Back-Left</value>
-<value code="6">Left</value>
-<value code="7">Forward-Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Moving Average Range" name="RNGFNDA_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFNDA_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFNDA_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFNDA_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFNDA_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFNDA_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RPM">
-<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">PWM</value>
-<value code="2">AUXPIN</value>
-<value code="3">EFI</value>
-<value code="4">Harmonic Notch</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report" user="Standard">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report" user="Standard">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Input pin number" name="RPM_PIN" documentation="Which pin to use" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">PixhawkAUX1</value>
-<value code="51">PixhawkAUX2</value>
-<value code="52">PixhawkAUX3</value>
-<value code="53">PixhawkAUX4</value>
-<value code="54">PixhawkAUX5</value>
-<value code="55">PixhawkAUX6</value>
-</values>
-</param>
-<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">PWM</value>
-<value code="2">AUXPIN</value>
-<value code="3">EFI</value>
-<value code="4">Harmonic Notch</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Advanced">
-<field name="Increment">0.001</field>
-</param>
-<param humanName="RPM2 input pin number" name="RPM2_PIN" documentation="Which pin to use" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">PixhawkAUX1</value>
-<value code="51">PixhawkAUX2</value>
-<value code="52">PixhawkAUX3</value>
-<value code="53">PixhawkAUX4</value>
-<value code="54">PixhawkAUX5</value>
-<value code="55">PixhawkAUX6</value>
-</values>
-</param>
-</parameters>
-<parameters name="SCHED_">
-<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation="Set to non-zero to enable scheduler debug messages. When set to show &quot;Slips&quot; 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." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="2">ShowSlips</value>
-<value code="3">ShowOverruns</value>
-</values>
-</param>
-<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental." user="Advanced">
-<values>
-<value code="50">50Hz</value>
-<value code="100">100Hz</value>
-<value code="200">200Hz</value>
-<value code="250">250Hz</value>
-<value code="300">300Hz</value>
-<value code="400">400Hz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Scheduling options" name="SCHED_OPTIONS" documentation="This controls optional aspects of the scheduler." user="Advanced">
-<field name="Bitmask">0:Enable per-task perf info</field>
-</param>
-</parameters>
-<parameters name="SCR_">
-<param humanName="Enable Scripting" name="SCR_ENABLE" documentation="Controls if scripting is enabled" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Lua Scripts</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Scripting Virtual Machine Instruction Count" name="SCR_VM_I_COUNT" documentation="The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time" user="Advanced">
-<field name="Range">1000 1000000</field>
-<field name="Increment">10000</field>
-</param>
-<param humanName="Scripting Heap Size" name="SCR_HEAP_SIZE" documentation="Amount of memory available for scripting" user="Advanced">
-<field name="Range">1024 1048576</field>
-<field name="Increment">1024</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Scripting Debug Level" name="SCR_DEBUG_LVL" documentation="The higher the number the more verbose builtin scripting debug will be." user="Advanced">
-</param>
-<param humanName="Scripting User Parameter1" name="SCR_USER1" documentation="General purpose user variable input for scripts" user="Standard">
-</param>
-<param humanName="Scripting User Parameter2" name="SCR_USER2" documentation="General purpose user variable input for scripts" user="Standard">
-</param>
-<param humanName="Scripting User Parameter3" name="SCR_USER3" documentation="General purpose user variable input for scripts" user="Standard">
-</param>
-<param humanName="Scripting User Parameter4" name="SCR_USER4" documentation="General purpose user variable input for scripts" user="Standard">
-</param>
-<param humanName="Directory disable" name="SCR_DIR_DISABLE" documentation="This will stop scripts being loaded from the given locations" user="Advanced">
-<field name="Bitmask">0:ROMFS, 1:APM/scripts</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="SERIAL">
-<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="230">230400</value>
-<value code="256">256000</value>
-<value code="460">460800</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Console protocol selection" name="SERIAL0_PROTOCOL" documentation="Control what protocol to use on the console. " user="Standard">
-<values>
-<value code="1">MAVlink1</value>
-<value code="2">MAVLink2</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code="1">MAVLink1</value>
-<value code="2">MAVLink2</value>
-<value code="3">Frsky D</value>
-<value code="4">Frsky SPort</value>
-<value code="5">GPS</value>
-<value code="7">Alexmos Gimbal Serial</value>
-<value code="8">SToRM32 Gimbal Serial</value>
-<value code="9">Rangefinder</value>
-<value code="10">FrSky SPort Passthrough (OpenTX)</value>
-<value code="11">Lidar360</value>
-<value code="13">Beacon</value>
-<value code="14">Volz servo out</value>
-<value code="15">SBus servo out</value>
-<value code="16">ESC Telemetry</value>
-<value code="17">Devo Telemetry</value>
-<value code="18">OpticalFlow</value>
-<value code="19">RobotisServo</value>
-<value code="20">NMEA Output</value>
-<value code="21">WindVane</value>
-<value code="22">SLCAN</value>
-<value code="23">RCIN</value>
-<value code="24">MegaSquirt EFI</value>
-<value code="25">LTM</value>
-<value code="26">RunCam</value>
-<value code="27">HottTelem</value>
-<value code="28">Scripting</value>
-<value code="29">Crossfire</value>
-<value code="30">Generator</value>
-<value code="31">Winch</value>
-<value code="32">MSP</value>
-<value code="33">DJI FPV</value>
-<value code="34">AirSpeed</value>
-<value code="35">ADSB</value>
-<value code="36">AHRS</value>
-<value code="37">SmartAudio</value>
-<value code="38">FETtecOneWire</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="230">230400</value>
-<value code="256">256000</value>
-<value code="460">460800</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code="1">MAVLink1</value>
-<value code="2">MAVLink2</value>
-<value code="3">Frsky D</value>
-<value code="4">Frsky SPort</value>
-<value code="5">GPS</value>
-<value code="7">Alexmos Gimbal Serial</value>
-<value code="8">SToRM32 Gimbal Serial</value>
-<value code="9">Rangefinder</value>
-<value code="10">FrSky SPort Passthrough (OpenTX)</value>
-<value code="11">Lidar360</value>
-<value code="13">Beacon</value>
-<value code="14">Volz servo out</value>
-<value code="15">SBus servo out</value>
-<value code="16">ESC Telemetry</value>
-<value code="17">Devo Telemetry</value>
-<value code="18">OpticalFlow</value>
-<value code="19">RobotisServo</value>
-<value code="20">NMEA Output</value>
-<value code="21">WindVane</value>
-<value code="22">SLCAN</value>
-<value code="23">RCIN</value>
-<value code="24">MegaSquirt EFI</value>
-<value code="25">LTM</value>
-<value code="26">RunCam</value>
-<value code="27">HottTelem</value>
-<value code="28">Scripting</value>
-<value code="29">Crossfire</value>
-<value code="30">Generator</value>
-<value code="31">Winch</value>
-<value code="32">MSP</value>
-<value code="33">DJI FPV</value>
-<value code="34">AirSpeed</value>
-<value code="35">ADSB</value>
-<value code="36">AHRS</value>
-<value code="37">SmartAudio</value>
-<value code="38">FETtecOneWire</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="230">230400</value>
-<value code="256">256000</value>
-<value code="460">460800</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code="1">MAVLink1</value>
-<value code="2">MAVLink2</value>
-<value code="3">Frsky D</value>
-<value code="4">Frsky SPort</value>
-<value code="5">GPS</value>
-<value code="7">Alexmos Gimbal Serial</value>
-<value code="8">SToRM32 Gimbal Serial</value>
-<value code="9">Rangefinder</value>
-<value code="10">FrSky SPort Passthrough (OpenTX)</value>
-<value code="11">Lidar360</value>
-<value code="13">Beacon</value>
-<value code="14">Volz servo out</value>
-<value code="15">SBus servo out</value>
-<value code="16">ESC Telemetry</value>
-<value code="17">Devo Telemetry</value>
-<value code="18">OpticalFlow</value>
-<value code="19">RobotisServo</value>
-<value code="20">NMEA Output</value>
-<value code="21">WindVane</value>
-<value code="22">SLCAN</value>
-<value code="23">RCIN</value>
-<value code="24">MegaSquirt EFI</value>
-<value code="25">LTM</value>
-<value code="26">RunCam</value>
-<value code="27">HottTelem</value>
-<value code="28">Scripting</value>
-<value code="29">Crossfire</value>
-<value code="30">Generator</value>
-<value code="31">Winch</value>
-<value code="32">MSP</value>
-<value code="33">DJI FPV</value>
-<value code="34">AirSpeed</value>
-<value code="35">ADSB</value>
-<value code="36">AHRS</value>
-<value code="37">SmartAudio</value>
-<value code="38">FETtecOneWire</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="230">230400</value>
-<value code="256">256000</value>
-<value code="460">460800</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code="1">MAVLink1</value>
-<value code="2">MAVLink2</value>
-<value code="3">Frsky D</value>
-<value code="4">Frsky SPort</value>
-<value code="5">GPS</value>
-<value code="7">Alexmos Gimbal Serial</value>
-<value code="8">SToRM32 Gimbal Serial</value>
-<value code="9">Rangefinder</value>
-<value code="10">FrSky SPort Passthrough (OpenTX)</value>
-<value code="11">Lidar360</value>
-<value code="13">Beacon</value>
-<value code="14">Volz servo out</value>
-<value code="15">SBus servo out</value>
-<value code="16">ESC Telemetry</value>
-<value code="17">Devo Telemetry</value>
-<value code="18">OpticalFlow</value>
-<value code="19">RobotisServo</value>
-<value code="20">NMEA Output</value>
-<value code="21">WindVane</value>
-<value code="22">SLCAN</value>
-<value code="23">RCIN</value>
-<value code="24">MegaSquirt EFI</value>
-<value code="25">LTM</value>
-<value code="26">RunCam</value>
-<value code="27">HottTelem</value>
-<value code="28">Scripting</value>
-<value code="29">Crossfire</value>
-<value code="30">Generator</value>
-<value code="31">Winch</value>
-<value code="32">MSP</value>
-<value code="33">DJI FPV</value>
-<value code="34">AirSpeed</value>
-<value code="35">ADSB</value>
-<value code="36">AHRS</value>
-<value code="37">SmartAudio</value>
-<value code="38">FETtecOneWire</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="230">230400</value>
-<value code="256">256000</value>
-<value code="460">460800</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial5 protocol selection" name="SERIAL5_PROTOCOL" documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code="1">MAVLink1</value>
-<value code="2">MAVLink2</value>
-<value code="3">Frsky D</value>
-<value code="4">Frsky SPort</value>
-<value code="5">GPS</value>
-<value code="7">Alexmos Gimbal Serial</value>
-<value code="8">SToRM32 Gimbal Serial</value>
-<value code="9">Rangefinder</value>
-<value code="10">FrSky SPort Passthrough (OpenTX)</value>
-<value code="11">Lidar360</value>
-<value code="13">Beacon</value>
-<value code="14">Volz servo out</value>
-<value code="15">SBus servo out</value>
-<value code="16">ESC Telemetry</value>
-<value code="17">Devo Telemetry</value>
-<value code="18">OpticalFlow</value>
-<value code="19">RobotisServo</value>
-<value code="20">NMEA Output</value>
-<value code="21">WindVane</value>
-<value code="22">SLCAN</value>
-<value code="23">RCIN</value>
-<value code="24">MegaSquirt EFI</value>
-<value code="25">LTM</value>
-<value code="26">RunCam</value>
-<value code="27">HottTelem</value>
-<value code="28">Scripting</value>
-<value code="29">Crossfire</value>
-<value code="30">Generator</value>
-<value code="31">Winch</value>
-<value code="32">MSP</value>
-<value code="33">DJI FPV</value>
-<value code="34">AirSpeed</value>
-<value code="35">ADSB</value>
-<value code="36">AHRS</value>
-<value code="37">SmartAudio</value>
-<value code="38">FETtecOneWire</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="230">230400</value>
-<value code="256">256000</value>
-<value code="460">460800</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial6 protocol selection" name="SERIAL6_PROTOCOL" documentation="Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code="1">MAVLink1</value>
-<value code="2">MAVLink2</value>
-<value code="3">Frsky D</value>
-<value code="4">Frsky SPort</value>
-<value code="5">GPS</value>
-<value code="7">Alexmos Gimbal Serial</value>
-<value code="8">SToRM32 Gimbal Serial</value>
-<value code="9">Rangefinder</value>
-<value code="10">FrSky SPort Passthrough (OpenTX)</value>
-<value code="11">Lidar360</value>
-<value code="13">Beacon</value>
-<value code="14">Volz servo out</value>
-<value code="15">SBus servo out</value>
-<value code="16">ESC Telemetry</value>
-<value code="17">Devo Telemetry</value>
-<value code="18">OpticalFlow</value>
-<value code="19">RobotisServo</value>
-<value code="20">NMEA Output</value>
-<value code="21">WindVane</value>
-<value code="22">SLCAN</value>
-<value code="23">RCIN</value>
-<value code="24">MegaSquirt EFI</value>
-<value code="25">LTM</value>
-<value code="26">RunCam</value>
-<value code="27">HottTelem</value>
-<value code="28">Scripting</value>
-<value code="29">Crossfire</value>
-<value code="30">Generator</value>
-<value code="31">Winch</value>
-<value code="32">MSP</value>
-<value code="33">DJI FPV</value>
-<value code="34">AirSpeed</value>
-<value code="35">ADSB</value>
-<value code="36">AHRS</value>
-<value code="37">SmartAudio</value>
-<value code="38">FETtecOneWire</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 6 Baud Rate" name="SERIAL6_BAUD" documentation="The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="230">230400</value>
-<value code="256">256000</value>
-<value code="460">460800</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telem1 options" name="SERIAL1_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Telem2 options" name="SERIAL2_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial3 options" name="SERIAL3_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial4 options" name="SERIAL4_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial5 options" name="SERIAL5_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial6 options" name="SERIAL6_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial passthru first port" name="SERIAL_PASS1" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
-<values>
-<value code="-1">Disabled</value>
-<value code="0">Serial0</value>
-<value code="1">Serial1</value>
-<value code="2">Serial2</value>
-<value code="3">Serial3</value>
-<value code="4">Serial4</value>
-<value code="5">Serial5</value>
-<value code="6">Serial6</value>
-</values>
-</param>
-<param humanName="Serial passthru second port" name="SERIAL_PASS2" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
-<values>
-<value code="-1">Disabled</value>
-<value code="0">Serial0</value>
-<value code="1">Serial1</value>
-<value code="2">Serial2</value>
-<value code="3">Serial3</value>
-<value code="4">Serial4</value>
-<value code="5">Serial5</value>
-<value code="6">Serial6</value>
-</values>
-</param>
-<param humanName="Serial passthru timeout" name="SERIAL_PASSTIMO" documentation="This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-</param>
-<param humanName="Serial7 protocol selection" name="SERIAL7_PROTOCOL" documentation="Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code="1">MAVLink1</value>
-<value code="2">MAVLink2</value>
-<value code="3">Frsky D</value>
-<value code="4">Frsky SPort</value>
-<value code="5">GPS</value>
-<value code="7">Alexmos Gimbal Serial</value>
-<value code="8">SToRM32 Gimbal Serial</value>
-<value code="9">Rangefinder</value>
-<value code="10">FrSky SPort Passthrough (OpenTX)</value>
-<value code="11">Lidar360</value>
-<value code="13">Beacon</value>
-<value code="14">Volz servo out</value>
-<value code="15">SBus servo out</value>
-<value code="16">ESC Telemetry</value>
-<value code="17">Devo Telemetry</value>
-<value code="18">OpticalFlow</value>
-<value code="19">RobotisServo</value>
-<value code="20">NMEA Output</value>
-<value code="21">WindVane</value>
-<value code="22">SLCAN</value>
-<value code="23">RCIN</value>
-<value code="24">MegaSquirt EFI</value>
-<value code="25">LTM</value>
-<value code="26">RunCam</value>
-<value code="27">HottTelem</value>
-<value code="28">Scripting</value>
-<value code="29">Crossfire</value>
-<value code="30">Generator</value>
-<value code="31">Winch</value>
-<value code="32">MSP</value>
-<value code="33">DJI FPV</value>
-<value code="34">AirSpeed</value>
-<value code="35">ADSB</value>
-<value code="36">AHRS</value>
-<value code="37">SmartAudio</value>
-<value code="38">FETtecOneWire</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 7 Baud Rate" name="SERIAL7_BAUD" documentation="The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="230">230400</value>
-<value code="256">256000</value>
-<value code="460">460800</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial7 options" name="SERIAL7_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial8 protocol selection" name="SERIAL8_PROTOCOL" documentation="Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code="1">MAVLink1</value>
-<value code="2">MAVLink2</value>
-<value code="3">Frsky D</value>
-<value code="4">Frsky SPort</value>
-<value code="5">GPS</value>
-<value code="7">Alexmos Gimbal Serial</value>
-<value code="8">SToRM32 Gimbal Serial</value>
-<value code="9">Rangefinder</value>
-<value code="10">FrSky SPort Passthrough (OpenTX)</value>
-<value code="11">Lidar360</value>
-<value code="13">Beacon</value>
-<value code="14">Volz servo out</value>
-<value code="15">SBus servo out</value>
-<value code="16">ESC Telemetry</value>
-<value code="17">Devo Telemetry</value>
-<value code="18">OpticalFlow</value>
-<value code="19">RobotisServo</value>
-<value code="20">NMEA Output</value>
-<value code="21">WindVane</value>
-<value code="22">SLCAN</value>
-<value code="23">RCIN</value>
-<value code="24">MegaSquirt EFI</value>
-<value code="25">LTM</value>
-<value code="26">RunCam</value>
-<value code="27">HottTelem</value>
-<value code="28">Scripting</value>
-<value code="29">Crossfire</value>
-<value code="30">Generator</value>
-<value code="31">Winch</value>
-<value code="32">MSP</value>
-<value code="33">DJI FPV</value>
-<value code="34">AirSpeed</value>
-<value code="35">ADSB</value>
-<value code="36">AHRS</value>
-<value code="37">SmartAudio</value>
-<value code="38">FETtecOneWire</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 8 Baud Rate" name="SERIAL8_BAUD" documentation="The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="230">230400</value>
-<value code="256">256000</value>
-<value code="460">460800</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial8 options" name="SERIAL8_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="SERVO">
-<param humanName="Servo default output rate" name="SERVO_RATE" documentation="This sets the default output rate in Hz for all outputs." user="Advanced">
-<field name="Range">25 400</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Servo DShot output rate" name="SERVO_DSHOT_RATE" documentation="This sets the DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz." user="Advanced">
-<values>
-<value code="0">1Khz</value>
-<value code="1">loop-rate</value>
-<value code="2">double loop-rate</value>
-<value code="3">triple loop-rate</value>
-<value code="4">quadruple loop rate</value>
-</values>
-</param>
-<param humanName="Servo DShot ESC type" name="SERVO_DSHOT_ESC" documentation="This sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">BLHeli32/BLHeli_S/Kiss</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO10_">
-<param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO10_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO10_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO11_">
-<param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO11_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO11_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO12_">
-<param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO13_">
-<param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO14_">
-<param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO15_">
-<param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO16_">
-<param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO1_">
-<param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO2_">
-<param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO3_">
-<param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO4_">
-<param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO5_">
-<param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO6_">
-<param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO7_">
-<param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO8_">
-<param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO9_">
-<param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
-</param>
-<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">FlapAuto</value>
-<value code="4">Aileron</value>
-<value code="6">MountPan</value>
-<value code="7">MountTilt</value>
-<value code="8">MountRoll</value>
-<value code="9">MountOpen</value>
-<value code="10">CameraTrigger</value>
-<value code="12">Mount2Pan</value>
-<value code="13">Mount2Tilt</value>
-<value code="14">Mount2Roll</value>
-<value code="15">Mount2Open</value>
-<value code="16">DifferentialSpoilerLeft1</value>
-<value code="17">DifferentialSpoilerRight1</value>
-<value code="19">Elevator</value>
-<value code="21">Rudder</value>
-<value code="22">SprayerPump</value>
-<value code="23">SprayerSpinner</value>
-<value code="24">FlaperonLeft</value>
-<value code="25">FlaperonRight</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">Gripper</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="41">TiltMotorsFront</value>
-<value code="45">TiltMotorsRear</value>
-<value code="46">TiltMotorRearLeft</value>
-<value code="47">TiltMotorRearRight</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-<value code="73">ThrottleLeft</value>
-<value code="74">ThrottleRight</value>
-<value code="75">TiltMotorFrontLeft</value>
-<value code="76">TiltMotorFrontRight</value>
-<value code="77">ElevonLeft</value>
-<value code="78">ElevonRight</value>
-<value code="79">VTailLeft</value>
-<value code="80">VTailRight</value>
-<value code="81">BoostThrottle</value>
-<value code="82">Motor9</value>
-<value code="83">Motor10</value>
-<value code="84">Motor11</value>
-<value code="85">Motor12</value>
-<value code="86">DifferentialSpoilerLeft2</value>
-<value code="87">DifferentialSpoilerRight2</value>
-<value code="88">Winch</value>
-<value code="89">Main Sail</value>
-<value code="90">CameraISO</value>
-<value code="91">CameraAperture</value>
-<value code="92">CameraFocus</value>
-<value code="93">CameraShutterSpeed</value>
-<value code="94">Script1</value>
-<value code="95">Script2</value>
-<value code="96">Script3</value>
-<value code="97">Script4</value>
-<value code="98">Script5</value>
-<value code="99">Script6</value>
-<value code="100">Script7</value>
-<value code="101">Script8</value>
-<value code="102">Script9</value>
-<value code="103">Script10</value>
-<value code="104">Script11</value>
-<value code="105">Script12</value>
-<value code="106">Script13</value>
-<value code="107">Script14</value>
-<value code="108">Script15</value>
-<value code="109">Script16</value>
-<value code="120">NeoPixel1</value>
-<value code="121">NeoPixel2</value>
-<value code="122">NeoPixel3</value>
-<value code="123">NeoPixel4</value>
-<value code="124">RateRoll</value>
-<value code="125">RatePitch</value>
-<value code="126">RateThrust</value>
-<value code="127">RateYaw</value>
-<value code="128">WingSailElevator</value>
-<value code="129">ProfiLED1</value>
-<value code="130">ProfiLED2</value>
-<value code="131">ProfiLED3</value>
-<value code="132">ProfiLEDClock</value>
-<value code="133">Winch Clutch</value>
-<value code="134">SERVOn_MIN</value>
-<value code="135">SERVOn_TRIM</value>
-<value code="136">SERVOn_MAX</value>
-<value code="137">SailMastRotation</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO_BLH_">
-<param humanName="BLHeli Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
-<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
-</param>
-<param humanName="BLHeli pass-thru auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="BLHeli internal interface test" name="SERVO_BLH_TEST" documentation="Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">TestMotor1</value>
-<value code="2">TestMotor2</value>
-<value code="3">TestMotor3</value>
-<value code="4">TestMotor4</value>
-<value code="5">TestMotor5</value>
-<value code="6">TestMotor6</value>
-<value code="7">TestMotor7</value>
-<value code="8">TestMotor8</value>
-</values>
-</param>
-<param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-<field name="Range">0 300</field>
-</param>
-<param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 500</field>
-</param>
-<param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="BLHeli output type override" name="SERVO_BLH_OTYPE" documentation="When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">OneShot</value>
-<value code="2">OneShot125</value>
-<value code="3">Brushed</value>
-<value code="4">DShot150</value>
-<value code="5">DShot300</value>
-<value code="6">DShot600</value>
-<value code="7">DShot1200</value>
-</values>
-</param>
-<param humanName="Control port" name="SERVO_BLH_PORT" documentation="This sets the serial port to use for blheli pass-thru" user="Advanced">
-<values>
-<value code="0">Console</value>
-<value code="1">Serial1</value>
-<value code="2">Serial2</value>
-<value code="3">Serial3</value>
-<value code="4">Serial4</value>
-<value code="5">Serial5</value>
-</values>
-</param>
-<param humanName="BLHeli Motor Poles" name="SERVO_BLH_POLES" documentation="This allows calculation of true RPM from ESC's eRPM. The default is 14." user="Advanced">
-<field name="Range">1 127</field>
-</param>
-<param humanName="BLHeli bitmask of 3D channels" name="SERVO_BLH_3DMASK" documentation="Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction" user="Advanced">
-<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
-</param>
-<param humanName="BLHeli bitmask of bi-directional dshot channels" name="SERVO_BLH_BDMASK" documentation="Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch." user="Advanced">
-<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
-</param>
-<param humanName="BLHeli bitmask of reversed channels" name="SERVO_BLH_RVMASK" documentation="Mask of channels which are reversed. This is used to configure ESCs in reversed mode" user="Advanced">
-<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
-</param>
-</parameters>
-<parameters name="SERVO_FTW_">
-<param humanName="Servo channel output bitmask" name="SERVO_FTW_MASK" documentation="Servo channel mask specifying FETtec ESC output." user="Standard">
-<field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Servo channel reverse rotation bitmask" name="SERVO_FTW_RVMASK" documentation="Servo channel mask to reverse rotation of FETtec ESC outputs." user="Standard">
-<field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
-</param>
-<param humanName="Nr. electrical poles" name="SERVO_FTW_POLES" documentation="Number of motor electrical poles" user="Standard">
-<field name="Range">2 50</field>
-</param>
-</parameters>
-<parameters name="SERVO_ROB_">
-<param humanName="Robotis servo position min" name="SERVO_ROB_POSMIN" documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
-<field name="Range">0 4095</field>
-</param>
-<param humanName="Robotis servo position max" name="SERVO_ROB_POSMAX" documentation="Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
-<field name="Range">0 4095</field>
-</param>
-</parameters>
-<parameters name="SERVO_SBUS_">
-<param humanName="SBUS default output rate" name="SERVO_SBUS_RATE" documentation="This sets the SBUS output frame rate in Hz." user="Advanced">
-<field name="Range">25 250</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-</parameters>
-<parameters name="SERVO_VOLZ_">
-<param humanName="Channel Bitmask" name="SERVO_VOLZ_MASK" documentation="Enable of volz servo protocol to specific channels" user="Standard">
-<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
-</param>
-</parameters>
-<parameters name="SR0_">
-<param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="SR1_">
-<param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="SR2_">
-<param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="SR3_">
-<param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="SR4_">
-<param humanName="Raw sensor stream rate" name="SR4_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR4_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR4_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR4_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR4_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR4_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR4_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR4_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="SR5_">
-<param humanName="Raw sensor stream rate" name="SR5_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR5_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR5_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR5_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR5_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR5_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR5_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR5_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="SR6_">
-<param humanName="Raw sensor stream rate" name="SR6_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR6_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR6_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR6_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR6_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR6_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR6_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR6_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-<field name="Range">0 50</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="TERRAIN_">
-<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="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." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="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 ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. 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 loaded as needed." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Terrain options" name="TERRAIN_OPTIONS" documentation="Options to change behaviour of terrain system" user="Advanced">
-<field name="Bitmask">0:Disable Download</field>
-</param>
-</parameters>
-<parameters name="VISO">
-<param humanName="Visual odometry camera connection type" name="VISO_TYPE" documentation="Visual odometry camera connection type" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">MAVLink</value>
-<value code="2">IntelT265</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Visual odometry camera X position offset" name="VISO_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Visual odometry camera Y position offset" name="VISO_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Visual odometry camera Z position offset" name="VISO_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">-5 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Visual odometery camera orientation" name="VISO_ORIENT" documentation="Visual odometery camera orientation" user="Advanced">
-<values>
-<value code="0">Forward</value>
-<value code="2">Right</value>
-<value code="4">Back</value>
-<value code="6">Left</value>
-<value code="24">Up</value>
-<value code="25">Down</value>
-</values>
-</param>
-<param humanName="Visual odometry scaling factor" name="VISO_SCALE" documentation="Visual odometry scaling factor applied to position estimates from sensor" user="Advanced">
-</param>
-<param humanName="Visual odometry sensor delay" name="VISO_DELAY_MS" documentation="Visual odometry sensor delay relative to inertial measurements" user="Advanced">
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="Range">0 250</field>
-</param>
-<param humanName="Visual odometry velocity measurement noise" name="VISO_VEL_M_NSE" documentation="Visual odometry velocity measurement noise in m/s" user="Advanced">
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
-<field name="Range">0.05 5.0</field>
-</param>
-<param humanName="Visual odometry position measurement noise " name="VISO_POS_M_NSE" documentation="Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)" user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0.1 10.0</field>
-</param>
-<param humanName="Visual odometry yaw measurement noise" name="VISO_YAW_M_NSE" documentation="Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)" user="Advanced">
-<field name="Units">rad</field>
-<field name="UnitText">radians</field>
-<field name="Range">0.05 1.0</field>
-</param>
-</parameters>
-<parameters name="VTX_">
-<param humanName="Is the Video Transmitter enabled or not" name="VTX_ENABLE" documentation="Toggles the Video Transmitter on and off">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Video Transmitter Power Level" name="VTX_POWER" documentation="Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level">
-<field name="Range">1 1000</field>
-</param>
-<param humanName="Video Transmitter Channel" name="VTX_CHANNEL" documentation="Video Transmitter Channel" user="Standard">
-<field name="Range">0 7</field>
-</param>
-<param humanName="Video Transmitter Band" name="VTX_BAND" documentation="Video Transmitter Band" user="Standard">
-<values>
-<value code="0">Band A</value>
-<value code="1">Band B</value>
-<value code="2">Band E</value>
-<value code="3">Airwave</value>
-<value code="4">RaceBand</value>
-<value code="5">Low RaceBand</value>
-</values>
-</param>
-<param humanName="Video Transmitter Frequency" name="VTX_FREQ" documentation="Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL" user="Standard">
-<field name="ReadOnly">True</field>
-<field name="Range">5000 6000</field>
-</param>
-<param humanName="Video Transmitter Options" name="VTX_OPTIONS" documentation="Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels." user="Advanced">
-<field name="Bitmask">0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests</field>
-</param>
-<param humanName="Video Transmitter Max Power Level" name="VTX_MAX_POWER" documentation="Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.">
-<field name="Range">25 1000</field>
-</param>
-</parameters>
-<parameters name="WPNAV_">
-<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
-<field name="Units">cm/s</field>
-<field name="UnitText">centimeters per second</field>
-<field name="Range">20 2000</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
-<field name="Units">cm</field>
-<field name="UnitText">centimeters</field>
-<field name="Range">5 1000</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
-<field name="Units">cm/s</field>
-<field name="UnitText">centimeters per second</field>
-<field name="Range">10 1000</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
-<field name="Units">cm/s</field>
-<field name="UnitText">centimeters per second</field>
-<field name="Range">10 500</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
-<field name="Units">cm/s/s</field>
-<field name="UnitText">centimeters per square second</field>
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
-<field name="Units">cm/s/s</field>
-<field name="UnitText">centimeters per square second</field>
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Waypoint missions use rangefinder for terrain following" name="WPNAV_RFND_USE" documentation="This controls if waypoint missions use rangefinder for terrain following" user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Waypoint Jerk" name="WPNAV_JERK" documentation="Defines the horizontal jerk in m/s/s used during missions" user="Standard">
-<field name="Units">m/s/s/s</field>
-<field name="UnitText">meters per cubic second</field>
-<field name="Range">1 20</field>
-</param>
-<param humanName="Waypoint Terrain following altitude margin" name="WPNAV_TER_MARGIN" documentation="Waypoint Terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)" user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Range">0.1 100</field>
-</param>
-</parameters>
-</libraries>
+<!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->
+<paramfile>
+  <vehicles>
+    <parameters name="ArduSub">
+      <param humanName="Depth reading at surface" name="ArduSub:SURFACE_DEPTH" documentation="The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">-100 0</field>
+      </param>
+      <param humanName="Eeprom format version number" name="ArduSub:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="MAVLink system ID of this vehicle" name="ArduSub:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
+        <field name="Range">1 255</field>
+      </param>
+      <param humanName="My ground station number" name="ArduSub:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
+</param>
+      <param humanName="Throttle filter cutoff" name="ArduSub:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 10</field>
+        <field name="Increment">.5</field>
+      </param>
+      <param humanName="GCS PID tuning mask" name="ArduSub:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Roll</value>
+          <value code="2">Pitch</value>
+          <value code="4">Yaw</value>
+        </values>
+        <field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
+      </param>
+      <param humanName="Rangefinder gain" name="ArduSub:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub" user="Standard">
+        <field name="Range">0.01 2.0</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Ground Station Failsafe Enable" name="ArduSub:FS_GCS_ENABLE" documentation="Controls what action to take when GCS heartbeat is lost." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Warn only</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter depth hold mode</value>
+          <value code="4">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Leak Failsafe Enable" name="ArduSub:FS_LEAK_ENABLE" documentation="Controls what action to take if a leak is detected." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Warn only</value>
+          <value code="2">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Internal Pressure Failsafe Enable" name="ArduSub:FS_PRESS_ENABLE" documentation="Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Warn only</value>
+        </values>
+      </param>
+      <param humanName="Internal Temperature Failsafe Enable" name="ArduSub:FS_TEMP_ENABLE" documentation="Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Warn only</value>
+        </values>
+      </param>
+      <param humanName="Internal Pressure Failsafe Threshold" name="ArduSub:FS_PRESS_MAX" documentation="The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter" user="Standard">
+        <field name="Units">Pa</field>
+        <field name="UnitText">pascal</field>
+      </param>
+      <param humanName="Internal Temperature Failsafe Threshold" name="ArduSub:FS_TEMP_MAX" documentation="The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter." user="Standard">
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+      </param>
+      <param humanName="Terrain Failsafe Enable" name="ArduSub:FS_TERRAIN_ENAB" documentation="Controls what action to take if terrain information is lost during AUTO mode" user="Standard">
+        <values>
+          <value code="0">Disarm</value>
+          <value code="1">Hold Position</value>
+          <value code="2">Surface</value>
+        </values>
+      </param>
+      <param humanName="Pilot input failsafe action" name="ArduSub:FS_PILOT_INPUT" documentation="Controls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Warn Only</value>
+          <value code="2">Disarm</value>
+        </values>
+      </param>
+      <param humanName="Timeout for activation of pilot input failsafe" name="ArduSub:FS_PILOT_TIMEOUT" documentation="Controls the maximum interval between received pilot inputs before the failsafe action is triggered" user="Standard">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">0.1 3.0</field>
+      </param>
+      <param humanName="Crosstrack correction angle limit" name="ArduSub:XTRACK_ANG_LIM" documentation="Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation" user="Standard">
+        <field name="Range">10 90</field>
+      </param>
+      <param humanName="Yaw behaviour during missions" name="ArduSub:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
+        <values>
+          <value code="0">Never change yaw</value>
+          <value code="1">Face next waypoint</value>
+          <value code="2">Face next waypoint except RTL</value>
+          <value code="3">Face along GPS course</value>
+          <value code="4">Correct crosstrack error</value>
+        </values>
+      </param>
+      <param humanName="Pilot maximum vertical ascending speed" name="ArduSub:PILOT_SPEED_UP" documentation="The maximum vertical ascending velocity the pilot may request in cm/s" user="Standard">
+        <field name="Units">cm/s</field>
+        <field name="UnitText">centimeters per second</field>
+        <field name="Range">50 500</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Pilot maximum vertical descending speed" name="ArduSub:PILOT_SPEED_DN" documentation="The maximum vertical descending velocity the pilot may request in cm/s" user="Standard">
+        <field name="Units">cm/s</field>
+        <field name="UnitText">centimeters per second</field>
+        <field name="Range">50 500</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Pilot vertical acceleration" name="ArduSub:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
+        <field name="Units">cm/s/s</field>
+        <field name="UnitText">centimeters per square second</field>
+        <field name="Range">50 500</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Throttle deadzone" name="ArduSub:THR_DZ" documentation="The PWM deadzone in microseconds above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes" user="Standard">
+        <field name="Range">0 300</field>
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Log bitmask" name="ArduSub:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
+        <values>
+          <value code="830">Default</value>
+          <value code="894">Default+RCIN</value>
+          <value code="958">Default+IMU</value>
+          <value code="1854">Default+Motors</value>
+          <value code="-6146">NearlyAll-AC315</value>
+          <value code="45054">NearlyAll</value>
+          <value code="131071">All+FastATT</value>
+          <value code="262142">All+MotBatt</value>
+          <value code="393214">All+FastIMU</value>
+          <value code="397310">All+FastIMU+PID</value>
+          <value code="655358">All+FullIMU</value>
+          <value code="0">Disabled</value>
+        </values>
+        <field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
+      </param>
+      <param humanName="Angle Max" name="ArduSub:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Increment">10</field>
+        <field name="Range">1000 8000</field>
+      </param>
+      <param humanName="EKF Failsafe Action" name="ArduSub:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Warn only</value>
+          <value code="2">Disarm</value>
+        </values>
+      </param>
+      <param humanName="EKF failsafe variance threshold" name="ArduSub:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
+        <field name="Values">0.6:Strict,0.8:Default,1.0:Relaxed</field>
+      </param>
+      <param humanName="Crash check enable" name="ArduSub:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Warn only</value>
+          <value code="2">Disarm</value>
+        </values>
+      </param>
+      <param humanName="Default gain at boot" name="ArduSub:JS_GAIN_DEFAULT" documentation="Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]" user="Standard">
+        <field name="Range">0.1 1.0</field>
+      </param>
+      <param humanName="Maximum joystick gain" name="ArduSub:JS_GAIN_MAX" documentation="Maximum joystick gain" user="Standard">
+        <field name="Range">0.2 1.0</field>
+      </param>
+      <param humanName="Minimum joystick gain" name="ArduSub:JS_GAIN_MIN" documentation="Minimum joystick gain" user="Standard">
+        <field name="Range">0.1 0.8</field>
+      </param>
+      <param humanName="Gain steps" name="ArduSub:JS_GAIN_STEPS" documentation="Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT." user="Standard">
+        <field name="Range">1 10</field>
+      </param>
+      <param humanName="Lights brightness steps" name="ArduSub:JS_LIGHTS_STEPS" documentation="Number of steps in brightness between minimum and maximum brightness" user="Standard">
+        <field name="Range">1 10</field>
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+      </param>
+      <param humanName="Throttle gain scalar" name="ArduSub:JS_THR_GAIN" documentation="Scalar for gain on the throttle channel" user="Standard">
+        <field name="Range">0.5 4.0</field>
+      </param>
+      <param humanName="Frame configuration" name="ArduSub:FRAME_CONFIG" documentation="Set this parameter according to your vehicle/motor configuration" user="Standard">
+        <field name="RebootRequired">True</field>
+        <values>
+          <value code="0">BlueROV1</value>
+          <value code="1">Vectored</value>
+          <value code="2">Vectored_6DOF</value>
+          <value code="3">Vectored_6DOF_90</value>
+          <value code="4">SimpleROV-3</value>
+          <value code="5">SimpleROV-4</value>
+          <value code="6">SimpleROV-5</value>
+          <value code="7">Custom</value>
+        </values>
+      </param>
+      <param humanName="ESC Update Speed" name="ArduSub:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">50 490</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Acro Roll and Pitch P gain" name="ArduSub:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
+        <field name="Range">1 10</field>
+      </param>
+      <param humanName="Acro Yaw P gain" name="ArduSub:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation.  Higher values mean faster rate of rotation." user="Standard">
+        <field name="Range">1 10</field>
+      </param>
+      <param humanName="Acro Balance Roll" name="ArduSub:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
+        <field name="Range">0 3</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Acro Balance Pitch" name="ArduSub:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
+        <field name="Range">0 3</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Acro Trainer" name="ArduSub:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Leveling</value>
+          <value code="2">Leveling and Limited</value>
+        </values>
+      </param>
+      <param humanName="Acro Expo" name="ArduSub:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="0.1">Very Low</value>
+          <value code="0.2">Low</value>
+          <value code="0.3">Medium</value>
+          <value code="0.4">High</value>
+          <value code="0.5">Very High</value>
+        </values>
+      </param>
+      <param humanName="Control Frame" name="ArduSub:CONTROL_FRAME" documentation="Control Frame used in stabilized modes" user="Standard">
+        <values>
+          <value code="0">Standard</value>
+          <value code="1">Body frame Yaw/Pitch/Roll</value>
+        </values>
+      </param>
+    </parameters>
+  </vehicles>
+  <libraries>
+    <parameters name="AHRS_">
+      <param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls 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." user="Advanced">
+        <field name="Range">0.0 1.0</field>
+        <field name="Increment">.01</field>
+      </param>
+      <param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="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. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Yaw P" name="AHRS_YAW_P" documentation="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." user="Advanced">
+        <field name="Range">0.1 0.4</field>
+        <field name="Increment">.01</field>
+      </param>
+      <param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
+        <field name="Range">0.1 0.4</field>
+        <field name="Increment">.01</field>
+      </param>
+      <param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="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. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors." user="Advanced">
+        <field name="Range">0 127</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
+        <field name="Units">rad</field>
+        <field name="UnitText">radians</field>
+        <field name="Range">-0.1745 +0.1745</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
+        <field name="Units">rad</field>
+        <field name="UnitText">radians</field>
+        <field name="Range">-0.1745 +0.1745</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
+        <field name="Units">rad</field>
+        <field name="UnitText">radians</field>
+        <field name="Range">-0.1745 +0.1745</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="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." user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Yaw45</value>
+          <value code="2">Yaw90</value>
+          <value code="3">Yaw135</value>
+          <value code="4">Yaw180</value>
+          <value code="5">Yaw225</value>
+          <value code="6">Yaw270</value>
+          <value code="7">Yaw315</value>
+          <value code="8">Roll180</value>
+          <value code="9">Roll180Yaw45</value>
+          <value code="10">Roll180Yaw90</value>
+          <value code="11">Roll180Yaw135</value>
+          <value code="12">Pitch180</value>
+          <value code="13">Roll180Yaw225</value>
+          <value code="14">Roll180Yaw270</value>
+          <value code="15">Roll180Yaw315</value>
+          <value code="16">Roll90</value>
+          <value code="17">Roll90Yaw45</value>
+          <value code="18">Roll90Yaw90</value>
+          <value code="19">Roll90Yaw135</value>
+          <value code="20">Roll270</value>
+          <value code="21">Roll270Yaw45</value>
+          <value code="22">Roll270Yaw90</value>
+          <value code="23">Roll270Yaw135</value>
+          <value code="24">Pitch90</value>
+          <value code="25">Pitch270</value>
+          <value code="26">Pitch180Yaw90</value>
+          <value code="27">Pitch180Yaw270</value>
+          <value code="28">Roll90Pitch90</value>
+          <value code="29">Roll180Pitch90</value>
+          <value code="30">Roll270Pitch90</value>
+          <value code="31">Roll90Pitch180</value>
+          <value code="32">Roll270Pitch180</value>
+          <value code="33">Roll90Pitch270</value>
+          <value code="34">Roll180Pitch270</value>
+          <value code="35">Roll270Pitch270</value>
+          <value code="36">Roll90Pitch180Yaw90</value>
+          <value code="37">Roll90Yaw270</value>
+          <value code="38">Yaw293Pitch68Roll180</value>
+          <value code="39">Pitch315</value>
+          <value code="40">Roll90Pitch315</value>
+          <value code="100">Custom</value>
+        </values>
+      </param>
+      <param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="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." user="Advanced">
+        <field name="Range">0.001 0.5</field>
+        <field name="Increment">.01</field>
+      </param>
+      <param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="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." user="Advanced">
+        <field name="Range">0 10</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="2">Enable EKF2</value>
+          <value code="3">Enable EKF3</value>
+          <value code="11">ExternalAHRS</value>
+        </values>
+      </param>
+      <param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+        <field name="Range">-180 180</field>
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+        <field name="Range">-180 180</field>
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+        <field name="Range">-180 180</field>
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="ARMING_">
+      <param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">0.25 3.0</field>
+      </param>
+      <param humanName="Arming with Rudder enable/disable" name="ARMING_RUDDER" documentation="Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">ArmingOnly</value>
+          <value code="2">ArmOrDisarm</value>
+        </values>
+      </param>
+      <param humanName="Required mission items" name="ARMING_MIS_ITEMS" documentation="Bitmask of mission items that are required to be planned in order to arm the aircraft" user="Advanced">
+        <field name="Bitmask">0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint</field>
+      </param>
+      <param humanName="Arm Checks to Perform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). 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 no RC failsafe you would set ARMING_CHECK to 72." user="Standard">
+        <field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT</field>
+      </param>
+    </parameters>
+    <parameters name="ARSPD">
+      <param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">I2C-MS4525D0</value>
+          <value code="2">Analog</value>
+          <value code="3">I2C-MS5525</value>
+          <value code="4">I2C-MS5525 (0x76)</value>
+          <value code="5">I2C-MS5525 (0x77)</value>
+          <value code="6">I2C-SDP3X</value>
+          <value code="7">I2C-DLVR-5in</value>
+          <value code="8">UAVCAN</value>
+          <value code="9">I2C-DLVR-10in</value>
+          <value code="10">I2C-DLVR-20in</value>
+          <value code="11">I2C-DLVR-30in</value>
+          <value code="12">I2C-DLVR-60in</value>
+          <value code="13">NMEA water speed</value>
+          <value code="14">MSP</value>
+          <value code="15">ASP5033</value>
+        </values>
+      </param>
+      <param humanName="Airspeed use" name="ARSPD_USE" documentation="Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers)." user="Standard">
+        <values>
+          <value code="0">DoNotUse</value>
+          <value code="1">Use</value>
+          <value code="2">UseWhenZeroThrottle</value>
+        </values>
+      </param>
+      <param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure." user="Advanced">
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
+</param>
+      <param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is &gt; 5%. Should not be left enabled." user="Advanced">
+</param>
+      <param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed." user="Advanced">
+</param>
+      <param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="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." user="Advanced">
+        <values>
+          <value code="0">Disable</value>
+          <value code="1">Enable</value>
+        </values>
+      </param>
+      <param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+      <param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="Bus number of the I2C bus where the airspeed sensor is connected" user="Advanced">
+        <values>
+          <value code="0">Bus0(internal)</value>
+          <value code="1">Bus1(external)</value>
+          <value code="2">Bus2(auxillary)</value>
+        </values>
+      </param>
+      <param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
+        <values>
+          <value code="0">FirstSensor</value>
+          <value code="1">2ndSensor</value>
+        </values>
+      </param>
+      <param humanName="Airspeed options bitmask" name="ARSPD_OPTIONS" documentation="Bitmask of options to use with airspeed. Disable and/or re-enable sensor based on the difference between airspeed and ground speed based on ARSPD_WIND_MAX threshold, if set" user="Advanced">
+        <field name="Bitmask">0:Disable sensor, 1:Re-enable sensor</field>
+      </param>
+      <param humanName="Maximum airspeed and ground speed difference" name="ARSPD_WIND_MAX" documentation="If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor." user="Advanced">
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="Airspeed and ground speed difference that gives a warning" name="ARSPD_WIND_WARN" documentation="If the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used." user="Advanced">
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="Second Airspeed type" name="ARSPD2_TYPE" documentation="Type of 2nd airspeed sensor" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">I2C-MS4525D0</value>
+          <value code="2">Analog</value>
+          <value code="3">I2C-MS5525</value>
+          <value code="4">I2C-MS5525 (0x76)</value>
+          <value code="5">I2C-MS5525 (0x77)</value>
+          <value code="6">I2C-SDP3X</value>
+          <value code="7">I2C-DLVR-5in</value>
+          <value code="8">UAVCAN</value>
+          <value code="9">I2C-DLVR-10in</value>
+          <value code="10">I2C-DLVR-20in</value>
+          <value code="11">I2C-DLVR-30in</value>
+          <value code="12">I2C-DLVR-60in</value>
+          <value code="13">NMEA water speed</value>
+          <value code="14">MSP</value>
+          <value code="15">ASP5033</value>
+        </values>
+      </param>
+      <param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
+        <values>
+          <value code="0">Don't Use</value>
+          <value code="1">use</value>
+          <value code="2">UseWhenZeroThrottle</value>
+        </values>
+      </param>
+      <param humanName="Airspeed offset for 2nd airspeed sensor" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Airspeed ratio for 2nd airspeed sensor" name="ARSPD2_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Airspeed pin for 2nd airspeed sensor" name="ARSPD2_PIN" documentation="Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15. " user="Advanced">
+</param>
+      <param humanName="Automatic airspeed ratio calibration for 2nd airspeed sensor" name="ARSPD2_AUTOCAL" documentation="If this is enabled then the autopilot 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." user="Advanced">
+</param>
+      <param humanName="Control pitot tube order of 2nd airspeed sensor" name="ARSPD2_TUBE_ORDR" documentation="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." user="Advanced">
+</param>
+      <param humanName="Skip airspeed calibration on startup for 2nd sensor" name="ARSPD2_SKIP_CAL" documentation="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." user="Advanced">
+        <values>
+          <value code="0">Disable</value>
+          <value code="1">Enable</value>
+        </values>
+      </param>
+      <param humanName="The PSI range of the device for 2nd sensor" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+      <param humanName="Airspeed I2C bus for 2nd sensor" name="ARSPD2_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
+        <values>
+          <value code="0">Bus0(internal)</value>
+          <value code="1">Bus1(external)</value>
+          <value code="2">Bus2(auxillary)</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="ATC_">
+      <param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
+        <field name="Units">cdeg/s</field>
+        <field name="UnitText">centidegrees per second</field>
+        <field name="Range">500 18000</field>
+        <field name="Increment">100</field>
+      </param>
+      <param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
+        <field name="Units">cdeg/s/s</field>
+        <field name="UnitText">centidegrees per square second</field>
+        <field name="Range">0 72000</field>
+        <values>
+          <value code="0">Disabled</value>
+          <value code="9000">VerySlow</value>
+          <value code="18000">Slow</value>
+          <value code="36000">Medium</value>
+          <value code="54000">Fast</value>
+        </values>
+        <field name="Increment">1000</field>
+      </param>
+      <param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
+        <field name="Units">cdeg/s/s</field>
+        <field name="UnitText">centidegrees per square second</field>
+        <field name="Range">0 180000</field>
+        <field name="Increment">1000</field>
+        <values>
+          <value code="0">Disabled</value>
+          <value code="30000">VerySlow</value>
+          <value code="72000">Slow</value>
+          <value code="108000">Medium</value>
+          <value code="162000">Fast</value>
+        </values>
+      </param>
+      <param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
+        <field name="Units">cdeg/s/s</field>
+        <field name="UnitText">centidegrees per square second</field>
+        <field name="Range">0 180000</field>
+        <field name="Increment">1000</field>
+        <values>
+          <value code="0">Disabled</value>
+          <value code="30000">VerySlow</value>
+          <value code="72000">Slow</value>
+          <value code="108000">Medium</value>
+          <value code="162000">Fast</value>
+        </values>
+      </param>
+      <param humanName="Angle Boost" name="ATC_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Roll axis angle controller P gain" name="ATC_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
+        <field name="Range">0.0 12.000</field>
+      </param>
+      <param humanName="Pitch axis angle controller P gain" name="ATC_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
+        <field name="Range">0.0 12.000</field>
+      </param>
+      <param humanName="Yaw axis angle controller P gain" name="ATC_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
+        <field name="Range">0.0 6.000</field>
+      </param>
+      <param humanName="Angle Limit (to maintain altitude) Time Constant" name="ATC_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
+        <field name="Range">0.5 10.0</field>
+      </param>
+      <param humanName="Angular Velocity Max for Roll" name="ATC_RATE_R_MAX" documentation="Maximum angular velocity in roll axis" user="Advanced">
+        <field name="Units">deg/s</field>
+        <field name="UnitText">degrees per second</field>
+        <field name="Range">0 1080</field>
+        <field name="Increment">1</field>
+        <values>
+          <value code="0">Disabled</value>
+          <value code="360">Slow</value>
+          <value code="720">Medium</value>
+          <value code="1080">Fast</value>
+        </values>
+      </param>
+      <param humanName="Angular Velocity Max for Pitch" name="ATC_RATE_P_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
+        <field name="Units">deg/s</field>
+        <field name="UnitText">degrees per second</field>
+        <field name="Range">0 1080</field>
+        <field name="Increment">1</field>
+        <values>
+          <value code="0">Disabled</value>
+          <value code="360">Slow</value>
+          <value code="720">Medium</value>
+          <value code="1080">Fast</value>
+        </values>
+      </param>
+      <param humanName="Angular Velocity Max for Yaw" name="ATC_RATE_Y_MAX" documentation="Maximum angular velocity in yaw axis" user="Advanced">
+        <field name="Units">deg/s</field>
+        <field name="UnitText">degrees per second</field>
+        <field name="Range">0 1080</field>
+        <field name="Increment">1</field>
+        <values>
+          <value code="0">Disabled</value>
+          <value code="360">Slow</value>
+          <value code="720">Medium</value>
+          <value code="1080">Fast</value>
+        </values>
+      </param>
+      <param humanName="Attitude control input time constant" name="ATC_INPUT_TC" documentation="Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">0 1</field>
+        <field name="Increment">0.01</field>
+        <field name="Values">0.5:Very Soft,0.2:Soft,0.15:Medium,0.1:Crisp,0.05:Very Crisp</field>
+      </param>
+      <param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
+        <field name="Range">0.0 0.30</field>
+        <field name="Increment">0.005</field>
+      </param>
+      <param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
+        <field name="Range">0.0 0.5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
+        <field name="Range">0 1</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
+        <field name="Range">0.0 0.02</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Roll axis rate controller feed forward" name="ATC_RAT_RLL_FF" documentation="Roll axis rate controller feed forward" user="Standard">
+        <field name="Range">0 0.5</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FLTT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FLTE" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FLTD" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Roll slew rate limit" name="ATC_RAT_RLL_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
+        <field name="Range">0 200</field>
+        <field name="Increment">0.5</field>
+      </param>
+      <param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
+        <field name="Range">0.0 0.30</field>
+        <field name="Increment">0.005</field>
+      </param>
+      <param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
+        <field name="Range">0.0 0.5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
+        <field name="Range">0 1</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
+        <field name="Range">0.0 0.02</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Pitch axis rate controller feed forward" name="ATC_RAT_PIT_FF" documentation="Pitch axis rate controller feed forward" user="Standard">
+        <field name="Range">0 0.5</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FLTT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FLTE" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FLTD" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Pitch slew rate limit" name="ATC_RAT_PIT_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
+        <field name="Range">0 200</field>
+        <field name="Increment">0.5</field>
+      </param>
+      <param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
+        <field name="Range">0.0 0.50</field>
+        <field name="Increment">0.005</field>
+      </param>
+      <param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
+        <field name="Range">0.0 0.05</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
+        <field name="Range">0 1</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
+        <field name="Range">0.000 0.02</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Yaw axis rate controller feed forward" name="ATC_RAT_YAW_FF" documentation="Yaw axis rate controller feed forward" user="Standard">
+        <field name="Range">0 0.5</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FLTT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FLTE" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FLTD" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Yaw slew rate limit" name="ATC_RAT_YAW_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
+        <field name="Range">0 200</field>
+        <field name="Increment">0.5</field>
+      </param>
+      <param humanName="Throttle Mix Minimum" name="ATC_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
+        <field name="Range">0.1 0.25</field>
+      </param>
+      <param humanName="Throttle Mix Maximum" name="ATC_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
+        <field name="Range">0.5 0.9</field>
+      </param>
+      <param humanName="Throttle Mix Manual" name="ATC_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
+        <field name="Range">0.5 0.9</field>
+      </param>
+      <param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+    </parameters>
+    <parameters name="AVOID_">
+      <param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable avoidance input sources" user="Standard">
+        <field name="Bitmask">0:UseFence,1:UseProximitySensor,2:UseBeaconFence</field>
+      </param>
+      <param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">1 10</field>
+      </param>
+      <param humanName="Avoidance maximum backup speed" name="AVOID_BACKUP_SPD" documentation="Maximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable" user="Standard">
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+        <field name="Range">0 2</field>
+      </param>
+      <param humanName="Avoidance maximum acceleration" name="AVOID_ACCEL_MAX" documentation="Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits" user="Standard">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">0 9</field>
+      </param>
+      <param humanName="Avoidance deadzone between stopping and backing away from obstacle" name="AVOID_BACKUP_DZ" documentation="Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle." user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 2</field>
+      </param>
+    </parameters>
+    <parameters name="BARO">
+      <param humanName="Ground Pressure" name="BARO1_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+        <field name="Units">Pa</field>
+        <field name="UnitText">pascal</field>
+        <field name="Increment">1</field>
+        <field name="ReadOnly">True</field>
+        <field name="Volatile">True</field>
+      </param>
+      <param humanName="ground temperature" name="BARO_GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Increment">1</field>
+        <field name="Volatile">True</field>
+      </param>
+      <param humanName="altitude offset" name="BARO_ALT_OFFSET" documentation="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." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Primary barometer" name="BARO_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
+        <values>
+          <value code="0">FirstBaro</value>
+          <value code="1">2ndBaro</value>
+          <value code="2">3rdBaro</value>
+        </values>
+      </param>
+      <param humanName="External baro bus" name="BARO_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter." user="Advanced">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="0">Bus0</value>
+          <value code="1">Bus1</value>
+          <value code="6">Bus6</value>
+        </values>
+      </param>
+      <param humanName="Specific Gravity (For water depth measurement)" name="BARO_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
+        <field name="Values">1.0:Freshwater,1.024:Saltwater</field>
+      </param>
+      <param humanName="Ground Pressure" name="BARO2_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+        <field name="Units">Pa</field>
+        <field name="UnitText">pascal</field>
+        <field name="Increment">1</field>
+        <field name="ReadOnly">True</field>
+        <field name="Volatile">True</field>
+      </param>
+      <param humanName="Absolute Pressure" name="BARO3_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+        <field name="Units">Pa</field>
+        <field name="UnitText">pascal</field>
+        <field name="Increment">1</field>
+        <field name="ReadOnly">True</field>
+        <field name="Volatile">True</field>
+      </param>
+      <param humanName="Range in which sample is accepted" name="BARO_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+        <field name="Units">%</field>
+        <field name="UnitText">percent</field>
+        <field name="Range">0 100</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="External barometers to probe" name="BARO_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS." user="Advanced">
+        <field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP</field>
+      </param>
+      <param humanName="Baro ID" name="BARO1_DEVID" documentation="Barometer sensor ID, taking into account its type, bus and instance" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Baro ID2" name="BARO2_DEVID" documentation="Barometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Baro ID3" name="BARO3_DEVID" documentation="Barometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+    </parameters>
+    <parameters name="BARO1_WCF_">
+      <param humanName="Wind coefficient enable" name="BARO1_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO1_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO1_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO1_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO1_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+    </parameters>
+    <parameters name="BARO2_WCF_">
+      <param humanName="Wind coefficient enable" name="BARO2_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO2_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO2_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO2_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO2_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+    </parameters>
+    <parameters name="BARO3_WCF_">
+      <param humanName="Wind coefficient enable" name="BARO3_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO3_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO3_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO3_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO3_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+        <field name="Increment">0.05</field>
+      </param>
+    </parameters>
+    <parameters name="BATT2_">
+      <param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="3">Analog Voltage Only</value>
+          <value code="4">Analog Voltage and Current</value>
+          <value code="5">Solo</value>
+          <value code="6">Bebop</value>
+          <value code="7">SMBus-Generic</value>
+          <value code="8">UAVCAN-BatteryInfo</value>
+          <value code="9">ESC</value>
+          <value code="10">SumOfFollowing</value>
+          <value code="11">FuelFlow</value>
+          <value code="12">FuelLevelPWM</value>
+          <value code="13">SMBUS-SUI3</value>
+          <value code="14">SMBUS-SUI6</value>
+          <value code="15">NeoDesign</value>
+          <value code="16">SMBus-Maxell</value>
+          <value code="17">Generator-Elec</value>
+          <value code="18">Generator-Fuel</value>
+          <value code="19">Rotoye</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="5">Navigator</value>
+          <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
+          <value code="14">CubeOrange</value>
+          <value code="16">Durandal</value>
+          <value code="100">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="14">Pixhawk2_PM2</value>
+          <value code="15">CubeOrange</value>
+          <value code="17">Durandal</value>
+          <value code="101">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+      <param humanName="Amps per volt" name="BATT2_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+        <field name="Units">A/V</field>
+        <field name="UnitText">ampere per volt</field>
+      </param>
+      <param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+      <param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+        <values>
+          <value code="0">Raw Voltage</value>
+          <value code="1">Sag Compensated Voltage</value>
+        </values>
+      </param>
+      <param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Required arming voltage" name="BATT2_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Required arming remaining capacity" name="BATT2_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter." user="Advanced">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery monitor I2C bus number" name="BATT2_BUS" documentation="Battery monitor I2C bus number" user="Standard">
+        <field name="Range">0 3</field>
+      </param>
+      <param humanName="Battery monitor options" name="BATT2_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+        <field name="Bitmask">0:Ignore UAVCAN SoC</field>
+      </param>
+    </parameters>
+    <parameters name="BATT3_">
+      <param humanName="Battery monitoring" name="BATT3_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="3">Analog Voltage Only</value>
+          <value code="4">Analog Voltage and Current</value>
+          <value code="5">Solo</value>
+          <value code="6">Bebop</value>
+          <value code="7">SMBus-Generic</value>
+          <value code="8">UAVCAN-BatteryInfo</value>
+          <value code="9">ESC</value>
+          <value code="10">SumOfFollowing</value>
+          <value code="11">FuelFlow</value>
+          <value code="12">FuelLevelPWM</value>
+          <value code="13">SMBUS-SUI3</value>
+          <value code="14">SMBUS-SUI6</value>
+          <value code="15">NeoDesign</value>
+          <value code="16">SMBus-Maxell</value>
+          <value code="17">Generator-Elec</value>
+          <value code="18">Generator-Fuel</value>
+          <value code="19">Rotoye</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Voltage sensing pin" name="BATT3_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="5">Navigator</value>
+          <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
+          <value code="14">CubeOrange</value>
+          <value code="16">Durandal</value>
+          <value code="100">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Current sensing pin" name="BATT3_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="14">Pixhawk2_PM2</value>
+          <value code="15">CubeOrange</value>
+          <value code="17">Durandal</value>
+          <value code="101">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Voltage Multiplier" name="BATT3_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+      <param humanName="Amps per volt" name="BATT3_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+        <field name="Units">A/V</field>
+        <field name="UnitText">ampere per volt</field>
+      </param>
+      <param humanName="AMP offset" name="BATT3_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery capacity" name="BATT3_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery serial number" name="BATT3_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+      <param humanName="Low voltage timeout" name="BATT3_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Failsafe voltage source" name="BATT3_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+        <values>
+          <value code="0">Raw Voltage</value>
+          <value code="1">Sag Compensated Voltage</value>
+        </values>
+      </param>
+      <param humanName="Low battery voltage" name="BATT3_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Low battery capacity" name="BATT3_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Critical battery voltage" name="BATT3_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery critical capacity" name="BATT3_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Low battery failsafe action" name="BATT3_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Critical battery failsafe action" name="BATT3_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Required arming voltage" name="BATT3_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Required arming remaining capacity" name="BATT3_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter." user="Advanced">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery monitor I2C bus number" name="BATT3_BUS" documentation="Battery monitor I2C bus number" user="Standard">
+        <field name="Range">0 3</field>
+      </param>
+      <param humanName="Battery monitor options" name="BATT3_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+        <field name="Bitmask">0:Ignore UAVCAN SoC</field>
+      </param>
+    </parameters>
+    <parameters name="BATT4_">
+      <param humanName="Battery monitoring" name="BATT4_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="3">Analog Voltage Only</value>
+          <value code="4">Analog Voltage and Current</value>
+          <value code="5">Solo</value>
+          <value code="6">Bebop</value>
+          <value code="7">SMBus-Generic</value>
+          <value code="8">UAVCAN-BatteryInfo</value>
+          <value code="9">ESC</value>
+          <value code="10">SumOfFollowing</value>
+          <value code="11">FuelFlow</value>
+          <value code="12">FuelLevelPWM</value>
+          <value code="13">SMBUS-SUI3</value>
+          <value code="14">SMBUS-SUI6</value>
+          <value code="15">NeoDesign</value>
+          <value code="16">SMBus-Maxell</value>
+          <value code="17">Generator-Elec</value>
+          <value code="18">Generator-Fuel</value>
+          <value code="19">Rotoye</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Voltage sensing pin" name="BATT4_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="5">Navigator</value>
+          <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
+          <value code="14">CubeOrange</value>
+          <value code="16">Durandal</value>
+          <value code="100">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Current sensing pin" name="BATT4_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="14">Pixhawk2_PM2</value>
+          <value code="15">CubeOrange</value>
+          <value code="17">Durandal</value>
+          <value code="101">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Voltage Multiplier" name="BATT4_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+      <param humanName="Amps per volt" name="BATT4_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+        <field name="Units">A/V</field>
+        <field name="UnitText">ampere per volt</field>
+      </param>
+      <param humanName="AMP offset" name="BATT4_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery capacity" name="BATT4_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery serial number" name="BATT4_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+      <param humanName="Low voltage timeout" name="BATT4_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Failsafe voltage source" name="BATT4_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+        <values>
+          <value code="0">Raw Voltage</value>
+          <value code="1">Sag Compensated Voltage</value>
+        </values>
+      </param>
+      <param humanName="Low battery voltage" name="BATT4_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Low battery capacity" name="BATT4_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Critical battery voltage" name="BATT4_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery critical capacity" name="BATT4_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Low battery failsafe action" name="BATT4_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Critical battery failsafe action" name="BATT4_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Required arming voltage" name="BATT4_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Required arming remaining capacity" name="BATT4_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter." user="Advanced">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery monitor I2C bus number" name="BATT4_BUS" documentation="Battery monitor I2C bus number" user="Standard">
+        <field name="Range">0 3</field>
+      </param>
+      <param humanName="Battery monitor options" name="BATT4_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+        <field name="Bitmask">0:Ignore UAVCAN SoC</field>
+      </param>
+    </parameters>
+    <parameters name="BATT5_">
+      <param humanName="Battery monitoring" name="BATT5_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="3">Analog Voltage Only</value>
+          <value code="4">Analog Voltage and Current</value>
+          <value code="5">Solo</value>
+          <value code="6">Bebop</value>
+          <value code="7">SMBus-Generic</value>
+          <value code="8">UAVCAN-BatteryInfo</value>
+          <value code="9">ESC</value>
+          <value code="10">SumOfFollowing</value>
+          <value code="11">FuelFlow</value>
+          <value code="12">FuelLevelPWM</value>
+          <value code="13">SMBUS-SUI3</value>
+          <value code="14">SMBUS-SUI6</value>
+          <value code="15">NeoDesign</value>
+          <value code="16">SMBus-Maxell</value>
+          <value code="17">Generator-Elec</value>
+          <value code="18">Generator-Fuel</value>
+          <value code="19">Rotoye</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Voltage sensing pin" name="BATT5_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="5">Navigator</value>
+          <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
+          <value code="14">CubeOrange</value>
+          <value code="16">Durandal</value>
+          <value code="100">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Current sensing pin" name="BATT5_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="14">Pixhawk2_PM2</value>
+          <value code="15">CubeOrange</value>
+          <value code="17">Durandal</value>
+          <value code="101">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Voltage Multiplier" name="BATT5_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+      <param humanName="Amps per volt" name="BATT5_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+        <field name="Units">A/V</field>
+        <field name="UnitText">ampere per volt</field>
+      </param>
+      <param humanName="AMP offset" name="BATT5_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery capacity" name="BATT5_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery serial number" name="BATT5_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+      <param humanName="Low voltage timeout" name="BATT5_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Failsafe voltage source" name="BATT5_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+        <values>
+          <value code="0">Raw Voltage</value>
+          <value code="1">Sag Compensated Voltage</value>
+        </values>
+      </param>
+      <param humanName="Low battery voltage" name="BATT5_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Low battery capacity" name="BATT5_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Critical battery voltage" name="BATT5_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery critical capacity" name="BATT5_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Low battery failsafe action" name="BATT5_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Critical battery failsafe action" name="BATT5_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Required arming voltage" name="BATT5_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Required arming remaining capacity" name="BATT5_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter." user="Advanced">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery monitor I2C bus number" name="BATT5_BUS" documentation="Battery monitor I2C bus number" user="Standard">
+        <field name="Range">0 3</field>
+      </param>
+      <param humanName="Battery monitor options" name="BATT5_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+        <field name="Bitmask">0:Ignore UAVCAN SoC</field>
+      </param>
+    </parameters>
+    <parameters name="BATT6_">
+      <param humanName="Battery monitoring" name="BATT6_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="3">Analog Voltage Only</value>
+          <value code="4">Analog Voltage and Current</value>
+          <value code="5">Solo</value>
+          <value code="6">Bebop</value>
+          <value code="7">SMBus-Generic</value>
+          <value code="8">UAVCAN-BatteryInfo</value>
+          <value code="9">ESC</value>
+          <value code="10">SumOfFollowing</value>
+          <value code="11">FuelFlow</value>
+          <value code="12">FuelLevelPWM</value>
+          <value code="13">SMBUS-SUI3</value>
+          <value code="14">SMBUS-SUI6</value>
+          <value code="15">NeoDesign</value>
+          <value code="16">SMBus-Maxell</value>
+          <value code="17">Generator-Elec</value>
+          <value code="18">Generator-Fuel</value>
+          <value code="19">Rotoye</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Voltage sensing pin" name="BATT6_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="5">Navigator</value>
+          <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
+          <value code="14">CubeOrange</value>
+          <value code="16">Durandal</value>
+          <value code="100">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Current sensing pin" name="BATT6_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="14">Pixhawk2_PM2</value>
+          <value code="15">CubeOrange</value>
+          <value code="17">Durandal</value>
+          <value code="101">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Voltage Multiplier" name="BATT6_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+      <param humanName="Amps per volt" name="BATT6_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+        <field name="Units">A/V</field>
+        <field name="UnitText">ampere per volt</field>
+      </param>
+      <param humanName="AMP offset" name="BATT6_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery capacity" name="BATT6_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery serial number" name="BATT6_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+      <param humanName="Low voltage timeout" name="BATT6_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Failsafe voltage source" name="BATT6_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+        <values>
+          <value code="0">Raw Voltage</value>
+          <value code="1">Sag Compensated Voltage</value>
+        </values>
+      </param>
+      <param humanName="Low battery voltage" name="BATT6_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Low battery capacity" name="BATT6_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Critical battery voltage" name="BATT6_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery critical capacity" name="BATT6_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Low battery failsafe action" name="BATT6_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Critical battery failsafe action" name="BATT6_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Required arming voltage" name="BATT6_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Required arming remaining capacity" name="BATT6_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter." user="Advanced">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery monitor I2C bus number" name="BATT6_BUS" documentation="Battery monitor I2C bus number" user="Standard">
+        <field name="Range">0 3</field>
+      </param>
+      <param humanName="Battery monitor options" name="BATT6_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+        <field name="Bitmask">0:Ignore UAVCAN SoC</field>
+      </param>
+    </parameters>
+    <parameters name="BATT7_">
+      <param humanName="Battery monitoring" name="BATT7_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="3">Analog Voltage Only</value>
+          <value code="4">Analog Voltage and Current</value>
+          <value code="5">Solo</value>
+          <value code="6">Bebop</value>
+          <value code="7">SMBus-Generic</value>
+          <value code="8">UAVCAN-BatteryInfo</value>
+          <value code="9">ESC</value>
+          <value code="10">SumOfFollowing</value>
+          <value code="11">FuelFlow</value>
+          <value code="12">FuelLevelPWM</value>
+          <value code="13">SMBUS-SUI3</value>
+          <value code="14">SMBUS-SUI6</value>
+          <value code="15">NeoDesign</value>
+          <value code="16">SMBus-Maxell</value>
+          <value code="17">Generator-Elec</value>
+          <value code="18">Generator-Fuel</value>
+          <value code="19">Rotoye</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Voltage sensing pin" name="BATT7_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="5">Navigator</value>
+          <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
+          <value code="14">CubeOrange</value>
+          <value code="16">Durandal</value>
+          <value code="100">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Current sensing pin" name="BATT7_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="14">Pixhawk2_PM2</value>
+          <value code="15">CubeOrange</value>
+          <value code="17">Durandal</value>
+          <value code="101">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Voltage Multiplier" name="BATT7_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+      <param humanName="Amps per volt" name="BATT7_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+        <field name="Units">A/V</field>
+        <field name="UnitText">ampere per volt</field>
+      </param>
+      <param humanName="AMP offset" name="BATT7_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery capacity" name="BATT7_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery serial number" name="BATT7_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+      <param humanName="Low voltage timeout" name="BATT7_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Failsafe voltage source" name="BATT7_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+        <values>
+          <value code="0">Raw Voltage</value>
+          <value code="1">Sag Compensated Voltage</value>
+        </values>
+      </param>
+      <param humanName="Low battery voltage" name="BATT7_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Low battery capacity" name="BATT7_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Critical battery voltage" name="BATT7_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery critical capacity" name="BATT7_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Low battery failsafe action" name="BATT7_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Critical battery failsafe action" name="BATT7_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Required arming voltage" name="BATT7_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Required arming remaining capacity" name="BATT7_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter." user="Advanced">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery monitor I2C bus number" name="BATT7_BUS" documentation="Battery monitor I2C bus number" user="Standard">
+        <field name="Range">0 3</field>
+      </param>
+      <param humanName="Battery monitor options" name="BATT7_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+        <field name="Bitmask">0:Ignore UAVCAN SoC</field>
+      </param>
+    </parameters>
+    <parameters name="BATT8_">
+      <param humanName="Battery monitoring" name="BATT8_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="3">Analog Voltage Only</value>
+          <value code="4">Analog Voltage and Current</value>
+          <value code="5">Solo</value>
+          <value code="6">Bebop</value>
+          <value code="7">SMBus-Generic</value>
+          <value code="8">UAVCAN-BatteryInfo</value>
+          <value code="9">ESC</value>
+          <value code="10">SumOfFollowing</value>
+          <value code="11">FuelFlow</value>
+          <value code="12">FuelLevelPWM</value>
+          <value code="13">SMBUS-SUI3</value>
+          <value code="14">SMBUS-SUI6</value>
+          <value code="15">NeoDesign</value>
+          <value code="16">SMBus-Maxell</value>
+          <value code="17">Generator-Elec</value>
+          <value code="18">Generator-Fuel</value>
+          <value code="19">Rotoye</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Voltage sensing pin" name="BATT8_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="5">Navigator</value>
+          <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
+          <value code="14">CubeOrange</value>
+          <value code="16">Durandal</value>
+          <value code="100">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Current sensing pin" name="BATT8_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="14">Pixhawk2_PM2</value>
+          <value code="15">CubeOrange</value>
+          <value code="17">Durandal</value>
+          <value code="101">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Voltage Multiplier" name="BATT8_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+      <param humanName="Amps per volt" name="BATT8_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+        <field name="Units">A/V</field>
+        <field name="UnitText">ampere per volt</field>
+      </param>
+      <param humanName="AMP offset" name="BATT8_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery capacity" name="BATT8_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery serial number" name="BATT8_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+      <param humanName="Low voltage timeout" name="BATT8_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Failsafe voltage source" name="BATT8_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+        <values>
+          <value code="0">Raw Voltage</value>
+          <value code="1">Sag Compensated Voltage</value>
+        </values>
+      </param>
+      <param humanName="Low battery voltage" name="BATT8_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Low battery capacity" name="BATT8_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Critical battery voltage" name="BATT8_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery critical capacity" name="BATT8_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Low battery failsafe action" name="BATT8_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Critical battery failsafe action" name="BATT8_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Required arming voltage" name="BATT8_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Required arming remaining capacity" name="BATT8_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter." user="Advanced">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery monitor I2C bus number" name="BATT8_BUS" documentation="Battery monitor I2C bus number" user="Standard">
+        <field name="Range">0 3</field>
+      </param>
+      <param humanName="Battery monitor options" name="BATT8_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+        <field name="Bitmask">0:Ignore UAVCAN SoC</field>
+      </param>
+    </parameters>
+    <parameters name="BATT9_">
+      <param humanName="Battery monitoring" name="BATT9_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="3">Analog Voltage Only</value>
+          <value code="4">Analog Voltage and Current</value>
+          <value code="5">Solo</value>
+          <value code="6">Bebop</value>
+          <value code="7">SMBus-Generic</value>
+          <value code="8">UAVCAN-BatteryInfo</value>
+          <value code="9">ESC</value>
+          <value code="10">SumOfFollowing</value>
+          <value code="11">FuelFlow</value>
+          <value code="12">FuelLevelPWM</value>
+          <value code="13">SMBUS-SUI3</value>
+          <value code="14">SMBUS-SUI6</value>
+          <value code="15">NeoDesign</value>
+          <value code="16">SMBus-Maxell</value>
+          <value code="17">Generator-Elec</value>
+          <value code="18">Generator-Fuel</value>
+          <value code="19">Rotoye</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Voltage sensing pin" name="BATT9_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="5">Navigator</value>
+          <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
+          <value code="14">CubeOrange</value>
+          <value code="16">Durandal</value>
+          <value code="100">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Current sensing pin" name="BATT9_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="14">Pixhawk2_PM2</value>
+          <value code="15">CubeOrange</value>
+          <value code="17">Durandal</value>
+          <value code="101">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Voltage Multiplier" name="BATT9_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+      <param humanName="Amps per volt" name="BATT9_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+        <field name="Units">A/V</field>
+        <field name="UnitText">ampere per volt</field>
+      </param>
+      <param humanName="AMP offset" name="BATT9_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery capacity" name="BATT9_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery serial number" name="BATT9_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+      <param humanName="Low voltage timeout" name="BATT9_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Failsafe voltage source" name="BATT9_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+        <values>
+          <value code="0">Raw Voltage</value>
+          <value code="1">Sag Compensated Voltage</value>
+        </values>
+      </param>
+      <param humanName="Low battery voltage" name="BATT9_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Low battery capacity" name="BATT9_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Critical battery voltage" name="BATT9_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery critical capacity" name="BATT9_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Low battery failsafe action" name="BATT9_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Critical battery failsafe action" name="BATT9_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Required arming voltage" name="BATT9_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Required arming remaining capacity" name="BATT9_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter." user="Advanced">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery monitor I2C bus number" name="BATT9_BUS" documentation="Battery monitor I2C bus number" user="Standard">
+        <field name="Range">0 3</field>
+      </param>
+      <param humanName="Battery monitor options" name="BATT9_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+        <field name="Bitmask">0:Ignore UAVCAN SoC</field>
+      </param>
+    </parameters>
+    <parameters name="BATT_">
+      <param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="3">Analog Voltage Only</value>
+          <value code="4">Analog Voltage and Current</value>
+          <value code="5">Solo</value>
+          <value code="6">Bebop</value>
+          <value code="7">SMBus-Generic</value>
+          <value code="8">UAVCAN-BatteryInfo</value>
+          <value code="9">ESC</value>
+          <value code="10">SumOfFollowing</value>
+          <value code="11">FuelFlow</value>
+          <value code="12">FuelLevelPWM</value>
+          <value code="13">SMBUS-SUI3</value>
+          <value code="14">SMBUS-SUI6</value>
+          <value code="15">NeoDesign</value>
+          <value code="16">SMBus-Maxell</value>
+          <value code="17">Generator-Elec</value>
+          <value code="18">Generator-Fuel</value>
+          <value code="19">Rotoye</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="5">Navigator</value>
+          <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
+          <value code="14">CubeOrange</value>
+          <value code="16">Durandal</value>
+          <value code="100">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+          <value code="4">CubeOrange_PM2/Navigator</value>
+          <value code="14">Pixhawk2_PM2</value>
+          <value code="15">CubeOrange</value>
+          <value code="17">Durandal</value>
+          <value code="101">PX4-v1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="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 with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+      <param humanName="Amps per volt" name="BATT_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+        <field name="Units">A/V</field>
+        <field name="UnitText">ampere per volt</field>
+      </param>
+      <param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+      <param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">1</field>
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+        <values>
+          <value code="0">Raw Voltage</value>
+          <value code="1">Sag Compensated Voltage</value>
+        </values>
+      </param>
+      <param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="2">Disarm</value>
+          <value code="3">Enter surface mode</value>
+        </values>
+      </param>
+      <param humanName="Required arming voltage" name="BATT_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Required arming remaining capacity" name="BATT_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter." user="Advanced">
+        <field name="Units">mAh</field>
+        <field name="UnitText">milliampere hour</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Battery monitor I2C bus number" name="BATT_BUS" documentation="Battery monitor I2C bus number" user="Standard">
+        <field name="Range">0 3</field>
+      </param>
+      <param humanName="Battery monitor options" name="BATT_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+        <field name="Bitmask">0:Ignore UAVCAN SoC</field>
+      </param>
+    </parameters>
+    <parameters name="BRD_">
+      <param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO" user="Advanced">
+        <values>
+          <value code="0">No PWMs</value>
+          <value code="1">One PWMs</value>
+          <value code="2">Two PWMs</value>
+          <value code="3">Three PWMs</value>
+          <value code="4">Four PWMs</value>
+          <value code="5">Five PWMs</value>
+          <value code="6">Six PWMs</value>
+          <value code="7">Seven PWMs</value>
+          <value code="8">Eight PWMs</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="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." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+          <value code="2">Auto</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. 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." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+          <value code="2">Auto</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 3 flow control" name="BRD_SER3_RTSCTS" documentation="Enable flow control on serial 3. 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." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+          <value code="2">Auto</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 4 flow control" name="BRD_SER4_RTSCTS" documentation="Enable flow control on serial 4. 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." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+          <value code="2">Auto</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 5 flow control" name="BRD_SER5_RTSCTS" documentation="Enable flow control on serial 5. 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." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+          <value code="2">Auto</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">50Hz</value>
+          <value code="2">75Hz</value>
+          <value code="3">100Hz</value>
+          <value code="4">150Hz</value>
+          <value code="5">200Hz</value>
+          <value code="6">250Hz</value>
+          <value code="7">300Hz</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
+        <field name="Range">-32768 32767</field>
+      </param>
+      <param humanName="Outputs which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what outputs can move while the safety switch has not been pressed" user="Advanced">
+        <field name="Bitmask">0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1." user="Advanced">
+        <field name="Range">-1 80</field>
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+      </param>
+      <param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
+        <values>
+          <value code="0">AUTO</value>
+          <value code="1">PX4V1</value>
+          <value code="2">Pixhawk</value>
+          <value code="3">Cube/Pixhawk2</value>
+          <value code="4">Pixracer</value>
+          <value code="5">PixhawkMini</value>
+          <value code="6">Pixhawk2Slim</value>
+          <value code="13">Intel Aero FC</value>
+          <value code="14">Pixhawk Pro</value>
+          <value code="20">AUAV2.1</value>
+          <value code="21">PCNC1</value>
+          <value code="22">MINDPXV2</value>
+          <value code="23">SP01</value>
+          <value code="24">CUAVv5/FMUV5</value>
+          <value code="30">VRX BRAIN51</value>
+          <value code="32">VRX BRAIN52</value>
+          <value code="33">VRX BRAIN52E</value>
+          <value code="34">VRX UBRAIN51</value>
+          <value code="35">VRX UBRAIN52</value>
+          <value code="36">VRX CORE10</value>
+          <value code="38">VRX BRAIN54</value>
+          <value code="39">PX4 FMUV6</value>
+          <value code="100">PX4 OLDDRIVERS</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
+        <field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
+      </param>
+      <param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Range">4.0 5.5</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Servo voltage requirement" name="BRD_VSERVO_MIN" documentation="Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Range">3.3 12.0</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="microSD slowdown" name="BRD_SD_SLOWDOWN" documentation="This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used." user="Advanced">
+        <field name="Range">0 32</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Set PWM Out Voltage" name="BRD_PWM_VOLT_SEL" documentation="This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output." user="Advanced">
+        <values>
+          <value code="0">3.3V</value>
+          <value code="1">5V</value>
+        </values>
+      </param>
+      <param humanName="Board options" name="BRD_OPTIONS" documentation="Board specific option flags" user="Advanced">
+        <field name="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins</field>
+      </param>
+      <param humanName="Boot delay" name="BRD_BOOT_DELAY" documentation="This adds a delay in milliseconds to boot to ensure peripherals initialise fully" user="Advanced">
+        <field name="Range">0 10000</field>
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+      </param>
+      <param humanName="IMU Heater P gain" name="BRD_IMUHEAT_P" documentation="IMU Heater P gain" user="Advanced">
+        <field name="Range">1 500</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="IMU Heater I gain" name="BRD_IMUHEAT_I" documentation="IMU Heater integrator gain" user="Advanced">
+        <field name="Range">0 1</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="IMU Heater IMAX" name="BRD_IMUHEAT_IMAX" documentation="IMU Heater integrator maximum" user="Advanced">
+        <field name="Range">0 100</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Alternative HW config" name="BRD_ALT_CONFIG" documentation="Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available." user="Advanced">
+        <field name="Range">0 10</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="BRD_RADIO">
+      <param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers">
+        <values>
+          <value code="0">None</value>
+          <value code="1">CYRF6936</value>
+          <value code="2">CC2500</value>
+          <value code="3">BK2425</value>
+        </values>
+      </param>
+      <param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
+        <values>
+          <value code="0">Auto</value>
+          <value code="1">DSM2</value>
+          <value code="2">DSMX</value>
+        </values>
+      </param>
+      <param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
+        <field name="Range">0 4</field>
+      </param>
+      <param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
+        <values>
+          <value code="0">NotDisabled</value>
+          <value code="1">Disabled</value>
+        </values>
+      </param>
+      <param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
+        <field name="Range">0 16</field>
+      </param>
+      <param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
+        <field name="Range">0 16</field>
+      </param>
+      <param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
+        <field name="Range">1 8</field>
+      </param>
+      <param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">MinChannel</value>
+          <value code="2">MidChannel</value>
+          <value code="3">MaxChannel</value>
+          <value code="4">MinChannelCW</value>
+          <value code="5">MidChannelCW</value>
+          <value code="6">MaxChannelCW</value>
+        </values>
+      </param>
+      <param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
+        <values>
+          <value code="1">Mode1</value>
+          <value code="2">Mode2</value>
+        </values>
+      </param>
+      <param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">TestChan1</value>
+          <value code="2">TestChan2</value>
+          <value code="3">TestChan3</value>
+          <value code="4">TestChan4</value>
+          <value code="5">TestChan5</value>
+          <value code="6">TestChan6</value>
+          <value code="7">TestChan7</value>
+          <value code="8">TestChan8</value>
+        </values>
+      </param>
+      <param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
+        <field name="Range">0 16</field>
+      </param>
+      <param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
+        <field name="Range">0 16</field>
+      </param>
+      <param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
+        <field name="Range">1 8</field>
+      </param>
+      <param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
+        <field name="Range">0 40</field>
+      </param>
+      <param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
+        <field name="Range">0 120</field>
+      </param>
+      <param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
+        <field name="Range">0 31</field>
+      </param>
+    </parameters>
+    <parameters name="BRD_RTC">
+      <param humanName="Allowed sources of RTC time" name="BRD_RTC_TYPES" documentation="Specifies which sources of UTC time will be accepted" user="Advanced">
+        <field name="Bitmask">0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW</field>
+      </param>
+      <param humanName="Timezone offset from UTC" name="BRD_RTC_TZ_MIN" documentation="Adds offset in +- minutes from UTC to calculate local time" user="Advanced">
+        <field name="Range">-720 +840</field>
+      </param>
+    </parameters>
+    <parameters name="BTN0_">
+      <param humanName="Function for button" name="BTN0_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN0_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN10_">
+      <param humanName="Function for button" name="BTN10_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN10_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN11_">
+      <param humanName="Function for button" name="BTN11_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN11_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN12_">
+      <param humanName="Function for button" name="BTN12_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN12_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN13_">
+      <param humanName="Function for button" name="BTN13_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN13_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN14_">
+      <param humanName="Function for button" name="BTN14_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN14_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN15_">
+      <param humanName="Function for button" name="BTN15_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN15_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN1_">
+      <param humanName="Function for button" name="BTN1_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN1_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN2_">
+      <param humanName="Function for button" name="BTN2_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN2_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN3_">
+      <param humanName="Function for button" name="BTN3_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN3_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN4_">
+      <param humanName="Function for button" name="BTN4_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN4_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN5_">
+      <param humanName="Function for button" name="BTN5_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN5_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN6_">
+      <param humanName="Function for button" name="BTN6_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN6_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN7_">
+      <param humanName="Function for button" name="BTN7_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN7_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN8_">
+      <param humanName="Function for button" name="BTN8_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN8_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="BTN9_">
+      <param humanName="Function for button" name="BTN9_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+      <param humanName="Function for button when the shift mode is toggled on" name="BTN9_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">shift</value>
+          <value code="2">arm_toggle</value>
+          <value code="3">arm</value>
+          <value code="4">disarm</value>
+          <value code="5">mode_manual</value>
+          <value code="6">mode_stabilize</value>
+          <value code="7">mode_depth_hold</value>
+          <value code="8">mode_poshold</value>
+          <value code="9">mode_auto</value>
+          <value code="10">mode_circle</value>
+          <value code="11">mode_guided</value>
+          <value code="12">mode_acro</value>
+          <value code="21">mount_center</value>
+          <value code="22">mount_tilt_up</value>
+          <value code="23">mount_tilt_down</value>
+          <value code="24">camera_trigger</value>
+          <value code="25">camera_source_toggle</value>
+          <value code="26">mount_pan_right</value>
+          <value code="27">mount_pan_left</value>
+          <value code="31">lights1_cycle</value>
+          <value code="32">lights1_brighter</value>
+          <value code="33">lights1_dimmer</value>
+          <value code="34">lights2_cycle</value>
+          <value code="35">lights2_brighter</value>
+          <value code="36">lights2_dimmer</value>
+          <value code="41">gain_toggle</value>
+          <value code="42">gain_inc</value>
+          <value code="43">gain_dec</value>
+          <value code="44">trim_roll_inc</value>
+          <value code="45">trim_roll_dec</value>
+          <value code="46">trim_pitch_inc</value>
+          <value code="47">trim_pitch_dec</value>
+          <value code="48">input_hold_set</value>
+          <value code="49">roll_pitch_toggle</value>
+          <value code="51">relay_1_on</value>
+          <value code="52">relay_1_off</value>
+          <value code="53">relay_1_toggle</value>
+          <value code="54">relay_2_on</value>
+          <value code="55">relay_2_off</value>
+          <value code="56">relay_2_toggle</value>
+          <value code="57">relay_3_on</value>
+          <value code="58">relay_3_off</value>
+          <value code="59">relay_3_toggle</value>
+          <value code="61">servo_1_inc</value>
+          <value code="62">servo_1_dec</value>
+          <value code="63">servo_1_min</value>
+          <value code="64">servo_1_max</value>
+          <value code="65">servo_1_center</value>
+          <value code="66">servo_2_inc</value>
+          <value code="67">servo_2_dec</value>
+          <value code="68">servo_2_min</value>
+          <value code="69">servo_2_max</value>
+          <value code="70">servo_2_center</value>
+          <value code="71">servo_3_inc</value>
+          <value code="72">servo_3_dec</value>
+          <value code="73">servo_3_min</value>
+          <value code="74">servo_3_max</value>
+          <value code="75">servo_3_center</value>
+          <value code="76">servo_1_min_momentary</value>
+          <value code="77">servo_1_max_momentary</value>
+          <value code="78">servo_1_min_toggle</value>
+          <value code="79">servo_1_max_toggle</value>
+          <value code="80">servo_2_min_momentary</value>
+          <value code="81">servo_2_max_momentary</value>
+          <value code="82">servo_2_min_toggle</value>
+          <value code="83">servo_2_max_toggle</value>
+          <value code="84">servo_3_min_momentary</value>
+          <value code="85">servo_3_max_momentary</value>
+          <value code="86">servo_3_min_toggle</value>
+          <value code="87">servo_3_max_toggle</value>
+          <value code="91">custom_1</value>
+          <value code="92">custom_2</value>
+          <value code="93">custom_3</value>
+          <value code="94">custom_4</value>
+          <value code="95">custom_5</value>
+          <value code="96">custom_6</value>
+          <value code="101">relay_4_on</value>
+          <value code="102">relay_4_off</value>
+          <value code="103">relay_4_toggle</value>
+          <value code="104">relay_1_momentary</value>
+          <value code="105">relay_2_momentary</value>
+          <value code="106">relay_3_momentary</value>
+          <value code="107">relay_4_momentary</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="CAM_">
+      <param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
+        <values>
+          <value code="0">Servo</value>
+          <value code="1">Relay</value>
+          <value code="2">GoPro in Solo Gimbal</value>
+        </values>
+      </param>
+      <param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
+        <field name="Units">ds</field>
+        <field name="UnitText">deciseconds</field>
+        <field name="Range">0 50</field>
+      </param>
+      <param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">1000 2000</field>
+      </param>
+      <param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">1000 2000</field>
+      </param>
+      <param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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." user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 1000</field>
+      </param>
+      <param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
+        <values>
+          <value code="0">Low</value>
+          <value code="1">High</value>
+        </values>
+      </param>
+      <param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 180</field>
+      </param>
+      <param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="50">AUX1</value>
+          <value code="51">AUX2</value>
+          <value code="52">AUX3</value>
+          <value code="53">AUX4</value>
+          <value code="54">AUX5</value>
+          <value code="55">AUX6</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
+        <values>
+          <value code="0">TriggerLow</value>
+          <value code="1">TriggerHigh</value>
+        </values>
+      </param>
+      <param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
+        <values>
+          <value code="0">Always</value>
+          <value code="1">Only when in AUTO</value>
+        </values>
+      </param>
+      <param humanName="Type of camera (0: None, 1: BMMCC)" name="CAM_TYPE" documentation="Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that." user="Standard">
+        <values>
+          <value code="0">Default</value>
+          <value code="1">BMMCC</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="CAM_RC_">
+      <param humanName="RunCam device type" name="CAM_RC_TYPE" documentation="RunCam deviee type used to determine OSD menu structure and shutter options.">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RunCam Split Micro/RunCam with UART</value>
+          <value code="2">RunCam Split</value>
+          <value code="3">RunCam Split4 4k</value>
+          <value code="4">RunCam Hybrid</value>
+        </values>
+      </param>
+      <param humanName="RunCam features available" name="CAM_RC_FEATURES" documentation="The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used." user="Advanced">
+        <field name="Bitmask">0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording</field>
+      </param>
+      <param humanName="RunCam boot delay before allowing updates" name="CAM_RC_BT_DELAY" documentation="Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync." user="Advanced">
+</param>
+      <param humanName="RunCam button delay before allowing further button presses" name="CAM_RC_BTN_DELAY" documentation="Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync." user="Advanced">
+</param>
+      <param humanName="RunCam mode delay before allowing further button presses" name="CAM_RC_MDE_DELAY" documentation="Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync." user="Advanced">
+</param>
+      <param humanName="RunCam control option" name="CAM_RC_CONTROL" documentation="Specifies the allowed actions required to enter the OSD menu" user="Advanced">
+        <field name="Bitmask">0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_">
+      <param humanName="Loglevel" name="CAN_LOGLEVEL" documentation="Loglevel for recording initialisation and debug information from CAN Interface" user="Advanced">
+        <field name="Range">0 4</field>
+        <values>
+          <value code="0">Log None</value>
+          <value code="1">Log Error</value>
+          <value code="2">Log Warning and below</value>
+          <value code="3">Log Info and below</value>
+          <value code="4">Log Everything</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="CAN_D1_">
+      <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">UAVCAN</value>
+          <value code="3">ToshibaCAN</value>
+          <value code="4">PiccoloCAN</value>
+          <value code="5">CANTester</value>
+          <value code="8">KDECAN</value>
+          <value code="9">PacketDigitalCAN</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D1_KDE_">
+      <param humanName="Number of motor poles" name="CAN_D1_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+    </parameters>
+    <parameters name="CAN_D1_PC_">
+      <param humanName="ESC channels" name="CAN_D1_PC_ESC_BM" documentation="Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN" user="Advanced">
+        <field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+      </param>
+      <param humanName="ESC output rate" name="CAN_D1_PC_ESC_RT" documentation="Output rate of ESC command messages" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">1 500</field>
+      </param>
+      <param humanName="Servo channels" name="CAN_D1_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" user="Advanced">
+        <field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16</field>
+      </param>
+      <param humanName="Servo command output rate" name="CAN_D1_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">1 500</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D1_TST_">
+      <param humanName="CAN Test Index" name="CAN_D1_TST_ID" documentation="Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot." user="Advanced">
+        <field name="Range">0 4</field>
+        <values>
+          <value code="0">TEST_NONE</value>
+          <value code="1">TEST_LOOPBACK</value>
+          <value code="2">TEST_BUSOFF_RECOVERY</value>
+          <value code="3">TEST_UAVCAN_DNA</value>
+          <value code="4">TEST_TOSHIBA_CAN</value>
+          <value code="5">TEST_KDE_CAN</value>
+          <value code="6">TEST_UAVCAN_ESC</value>
+        </values>
+      </param>
+      <param humanName="CANTester LoopRate" name="CAN_D1_TST_LPR8" documentation="Selects the Looprate of Test methods" user="Advanced">
+        <field name="Units">us</field>
+        <field name="UnitText">microseconds</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D1_UC_">
+      <param humanName="UAVCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+        <field name="Range">1 250</field>
+      </param>
+      <param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+        <field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+      </param>
+      <param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+        <field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+      </param>
+      <param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+        <field name="Range">1 200</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="UAVCAN options" name="CAN_D1_UC_OPTION" documentation="Option flags" user="Advanced">
+        <field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D2_">
+      <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">UAVCAN</value>
+          <value code="3">ToshibaCAN</value>
+          <value code="4">PiccoloCAN</value>
+          <value code="5">CANTester</value>
+          <value code="8">KDECAN</value>
+          <value code="9">PacketDigitalCAN</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D2_KDE_">
+      <param humanName="Number of motor poles" name="CAN_D2_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+    </parameters>
+    <parameters name="CAN_D2_PC_">
+      <param humanName="ESC channels" name="CAN_D2_PC_ESC_BM" documentation="Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN" user="Advanced">
+        <field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+      </param>
+      <param humanName="ESC output rate" name="CAN_D2_PC_ESC_RT" documentation="Output rate of ESC command messages" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">1 500</field>
+      </param>
+      <param humanName="Servo channels" name="CAN_D2_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" user="Advanced">
+        <field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16</field>
+      </param>
+      <param humanName="Servo command output rate" name="CAN_D2_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">1 500</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D2_TST_">
+      <param humanName="CAN Test Index" name="CAN_D2_TST_ID" documentation="Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot." user="Advanced">
+        <field name="Range">0 4</field>
+        <values>
+          <value code="0">TEST_NONE</value>
+          <value code="1">TEST_LOOPBACK</value>
+          <value code="2">TEST_BUSOFF_RECOVERY</value>
+          <value code="3">TEST_UAVCAN_DNA</value>
+          <value code="4">TEST_TOSHIBA_CAN</value>
+          <value code="5">TEST_KDE_CAN</value>
+          <value code="6">TEST_UAVCAN_ESC</value>
+        </values>
+      </param>
+      <param humanName="CANTester LoopRate" name="CAN_D2_TST_LPR8" documentation="Selects the Looprate of Test methods" user="Advanced">
+        <field name="Units">us</field>
+        <field name="UnitText">microseconds</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D2_UC_">
+      <param humanName="UAVCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+        <field name="Range">1 250</field>
+      </param>
+      <param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+        <field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+      </param>
+      <param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+        <field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+      </param>
+      <param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+        <field name="Range">1 200</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="UAVCAN options" name="CAN_D2_UC_OPTION" documentation="Option flags" user="Advanced">
+        <field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D3_">
+      <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">UAVCAN</value>
+          <value code="3">ToshibaCAN</value>
+          <value code="4">PiccoloCAN</value>
+          <value code="5">CANTester</value>
+          <value code="8">KDECAN</value>
+          <value code="9">PacketDigitalCAN</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D3_KDE_">
+      <param humanName="Number of motor poles" name="CAN_D3_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+    </parameters>
+    <parameters name="CAN_D3_PC_">
+      <param humanName="ESC channels" name="CAN_D3_PC_ESC_BM" documentation="Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN" user="Advanced">
+        <field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+      </param>
+      <param humanName="ESC output rate" name="CAN_D3_PC_ESC_RT" documentation="Output rate of ESC command messages" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">1 500</field>
+      </param>
+      <param humanName="Servo channels" name="CAN_D3_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" user="Advanced">
+        <field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16</field>
+      </param>
+      <param humanName="Servo command output rate" name="CAN_D3_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">1 500</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D3_TST_">
+      <param humanName="CAN Test Index" name="CAN_D3_TST_ID" documentation="Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot." user="Advanced">
+        <field name="Range">0 4</field>
+        <values>
+          <value code="0">TEST_NONE</value>
+          <value code="1">TEST_LOOPBACK</value>
+          <value code="2">TEST_BUSOFF_RECOVERY</value>
+          <value code="3">TEST_UAVCAN_DNA</value>
+          <value code="4">TEST_TOSHIBA_CAN</value>
+          <value code="5">TEST_KDE_CAN</value>
+          <value code="6">TEST_UAVCAN_ESC</value>
+        </values>
+      </param>
+      <param humanName="CANTester LoopRate" name="CAN_D3_TST_LPR8" documentation="Selects the Looprate of Test methods" user="Advanced">
+        <field name="Units">us</field>
+        <field name="UnitText">microseconds</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_D3_UC_">
+      <param humanName="UAVCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+        <field name="Range">1 250</field>
+      </param>
+      <param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+        <field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+      </param>
+      <param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+        <field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+      </param>
+      <param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+        <field name="Range">1 200</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="UAVCAN options" name="CAN_D3_UC_OPTION" documentation="Option flags" user="Advanced">
+        <field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_P1_">
+      <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">First driver</value>
+          <value code="2">Second driver</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Bitrate of CAN interface" name="CAN_P1_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+        <field name="Range">10000 1000000</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_P2_">
+      <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">First driver</value>
+          <value code="2">Second driver</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Bitrate of CAN interface" name="CAN_P2_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+        <field name="Range">10000 1000000</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_P3_">
+      <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">First driver</value>
+          <value code="2">Second driver</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Bitrate of CAN interface" name="CAN_P3_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+        <field name="Range">10000 1000000</field>
+      </param>
+    </parameters>
+    <parameters name="CAN_SLCAN_">
+      <param humanName="SLCAN Route" name="CAN_SLCAN_CPORT" documentation="CAN Interface ID to be routed to SLCAN, 0 means no routing" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">First interface</value>
+          <value code="2">Second interface</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="SLCAN Serial Port" name="CAN_SLCAN_SERNUM" documentation="Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details" user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="0">Serial0</value>
+          <value code="1">Serial1</value>
+          <value code="2">Serial2</value>
+          <value code="3">Serial3</value>
+          <value code="4">Serial4</value>
+          <value code="5">Serial5</value>
+          <value code="6">Serial6</value>
+        </values>
+      </param>
+      <param humanName="SLCAN Timeout" name="CAN_SLCAN_TIMOUT" documentation="Duration of inactivity after which SLCAN is switched back to original driver in seconds." user="Standard">
+        <field name="Range">0 127</field>
+      </param>
+      <param humanName="SLCAN Start Delay" name="CAN_SLCAN_SDELAY" documentation="Duration after which slcan starts after setting SERNUM in seconds." user="Standard">
+        <field name="Range">0 127</field>
+      </param>
+    </parameters>
+    <parameters name="CIRCLE_">
+      <param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">0 200000</field>
+        <field name="Increment">100</field>
+      </param>
+      <param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
+        <field name="Units">deg/s</field>
+        <field name="UnitText">degrees per second</field>
+        <field name="Range">-90 90</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Circle options" name="CIRCLE_OPTIONS" documentation="0:Enable or disable using the pitch/roll stick control circle mode's radius and rate" user="Standard">
+        <field name="Bitmask">0:manual control, 1:face direction of travel, 2:Start at center rather than on perimeter</field>
+      </param>
+    </parameters>
+    <parameters name="COMPASS_">
+      <param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
+        <field name="Range">-400 400</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
+        <field name="Range">-400 400</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
+        <field name="Range">-400 400</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
+        <field name="Range">-3.142 3.142</field>
+        <field name="Units">rad</field>
+        <field name="UnitText">radians</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Internal-Learning</value>
+          <value code="2">EKF-Learning</value>
+          <value code="3">InFlight-Learning</value>
+        </values>
+      </param>
+      <param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced" calibration="1">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Use Throttle</value>
+          <value code="2">Use Current</value>
+        </values>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
+        <field name="Range">-1000 1000</field>
+        <field name="Units">mGauss/A</field>
+        <field name="UnitText">milligauss per ampere</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
+        <field name="Range">-1000 1000</field>
+        <field name="Units">mGauss/A</field>
+        <field name="UnitText">milligauss per ampere</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+        <field name="Range">-1000 1000</field>
+        <field name="Units">mGauss/A</field>
+        <field name="UnitText">milligauss per ampere</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Yaw45</value>
+          <value code="2">Yaw90</value>
+          <value code="3">Yaw135</value>
+          <value code="4">Yaw180</value>
+          <value code="5">Yaw225</value>
+          <value code="6">Yaw270</value>
+          <value code="7">Yaw315</value>
+          <value code="8">Roll180</value>
+          <value code="9">Roll180Yaw45</value>
+          <value code="10">Roll180Yaw90</value>
+          <value code="11">Roll180Yaw135</value>
+          <value code="12">Pitch180</value>
+          <value code="13">Roll180Yaw225</value>
+          <value code="14">Roll180Yaw270</value>
+          <value code="15">Roll180Yaw315</value>
+          <value code="16">Roll90</value>
+          <value code="17">Roll90Yaw45</value>
+          <value code="18">Roll90Yaw90</value>
+          <value code="19">Roll90Yaw135</value>
+          <value code="20">Roll270</value>
+          <value code="21">Roll270Yaw45</value>
+          <value code="22">Roll270Yaw90</value>
+          <value code="23">Roll270Yaw135</value>
+          <value code="24">Pitch90</value>
+          <value code="25">Pitch270</value>
+          <value code="26">Pitch180Yaw90</value>
+          <value code="27">Pitch180Yaw270</value>
+          <value code="28">Roll90Pitch90</value>
+          <value code="29">Roll180Pitch90</value>
+          <value code="30">Roll270Pitch90</value>
+          <value code="31">Roll90Pitch180</value>
+          <value code="32">Roll270Pitch180</value>
+          <value code="33">Roll90Pitch270</value>
+          <value code="34">Roll180Pitch270</value>
+          <value code="35">Roll270Pitch270</value>
+          <value code="36">Roll90Pitch180Yaw90</value>
+          <value code="37">Roll90Yaw270</value>
+          <value code="38">Yaw293Pitch68Roll180</value>
+          <value code="39">Pitch315</value>
+          <value code="40">Roll90Pitch315</value>
+          <value code="100">Custom</value>
+        </values>
+      </param>
+      <param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. 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. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+        <values>
+          <value code="0">Internal</value>
+          <value code="1">External</value>
+          <value code="2">ForcedExternal</value>
+        </values>
+      </param>
+      <param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
+        <field name="Range">-400 400</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
+        <field name="Range">-400 400</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
+        <field name="Range">-400 400</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
+        <field name="Range">-1000 1000</field>
+        <field name="Units">mGauss/A</field>
+        <field name="UnitText">milligauss per ampere</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
+        <field name="Range">-1000 1000</field>
+        <field name="Units">mGauss/A</field>
+        <field name="UnitText">milligauss per ampere</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+        <field name="Range">-1000 1000</field>
+        <field name="Units">mGauss/A</field>
+        <field name="UnitText">milligauss per ampere</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
+        <field name="Range">-400 400</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced" calibration="1">
+        <field name="Range">-400 400</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
+        <field name="Range">-400 400</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
+        <field name="Range">-1000 1000</field>
+        <field name="Units">mGauss/A</field>
+        <field name="UnitText">milligauss per ampere</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced" calibration="1">
+        <field name="Range">-1000 1000</field>
+        <field name="Units">mGauss/A</field>
+        <field name="UnitText">milligauss per ampere</field>
+        <field name="Increment">1</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+        <field name="Range">-1000 1000</field>
+        <field name="Units">mGauss/A</field>
+        <field name="UnitText">milligauss per ampere</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the secondary compass for determining heading." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Yaw45</value>
+          <value code="2">Yaw90</value>
+          <value code="3">Yaw135</value>
+          <value code="4">Yaw180</value>
+          <value code="5">Yaw225</value>
+          <value code="6">Yaw270</value>
+          <value code="7">Yaw315</value>
+          <value code="8">Roll180</value>
+          <value code="9">Roll180Yaw45</value>
+          <value code="10">Roll180Yaw90</value>
+          <value code="11">Roll180Yaw135</value>
+          <value code="12">Pitch180</value>
+          <value code="13">Roll180Yaw225</value>
+          <value code="14">Roll180Yaw270</value>
+          <value code="15">Roll180Yaw315</value>
+          <value code="16">Roll90</value>
+          <value code="17">Roll90Yaw45</value>
+          <value code="18">Roll90Yaw90</value>
+          <value code="19">Roll90Yaw135</value>
+          <value code="20">Roll270</value>
+          <value code="21">Roll270Yaw45</value>
+          <value code="22">Roll270Yaw90</value>
+          <value code="23">Roll270Yaw135</value>
+          <value code="24">Pitch90</value>
+          <value code="25">Pitch270</value>
+          <value code="26">Pitch180Yaw90</value>
+          <value code="27">Pitch180Yaw270</value>
+          <value code="28">Roll90Pitch90</value>
+          <value code="29">Roll180Pitch90</value>
+          <value code="30">Roll270Pitch90</value>
+          <value code="31">Roll90Pitch180</value>
+          <value code="32">Roll270Pitch180</value>
+          <value code="33">Roll90Pitch270</value>
+          <value code="34">Roll180Pitch270</value>
+          <value code="35">Roll270Pitch270</value>
+          <value code="36">Roll90Pitch180Yaw90</value>
+          <value code="37">Roll90Yaw270</value>
+          <value code="38">Yaw293Pitch68Roll180</value>
+          <value code="39">Pitch315</value>
+          <value code="40">Roll90Pitch315</value>
+          <value code="100">Custom</value>
+        </values>
+      </param>
+      <param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+        <values>
+          <value code="0">Internal</value>
+          <value code="1">External</value>
+          <value code="2">ForcedExternal</value>
+        </values>
+      </param>
+      <param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the tertiary compass for determining heading." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Yaw45</value>
+          <value code="2">Yaw90</value>
+          <value code="3">Yaw135</value>
+          <value code="4">Yaw180</value>
+          <value code="5">Yaw225</value>
+          <value code="6">Yaw270</value>
+          <value code="7">Yaw315</value>
+          <value code="8">Roll180</value>
+          <value code="9">Roll180Yaw45</value>
+          <value code="10">Roll180Yaw90</value>
+          <value code="11">Roll180Yaw135</value>
+          <value code="12">Pitch180</value>
+          <value code="13">Roll180Yaw225</value>
+          <value code="14">Roll180Yaw270</value>
+          <value code="15">Roll180Yaw315</value>
+          <value code="16">Roll90</value>
+          <value code="17">Roll90Yaw45</value>
+          <value code="18">Roll90Yaw90</value>
+          <value code="19">Roll90Yaw135</value>
+          <value code="20">Roll270</value>
+          <value code="21">Roll270Yaw45</value>
+          <value code="22">Roll270Yaw90</value>
+          <value code="23">Roll270Yaw135</value>
+          <value code="24">Pitch90</value>
+          <value code="25">Pitch270</value>
+          <value code="26">Pitch180Yaw90</value>
+          <value code="27">Pitch180Yaw270</value>
+          <value code="28">Roll90Pitch90</value>
+          <value code="29">Roll180Pitch90</value>
+          <value code="30">Roll270Pitch90</value>
+          <value code="31">Roll90Pitch180</value>
+          <value code="32">Roll270Pitch180</value>
+          <value code="33">Roll90Pitch270</value>
+          <value code="34">Roll180Pitch270</value>
+          <value code="35">Roll270Pitch270</value>
+          <value code="36">Roll90Pitch180Yaw90</value>
+          <value code="37">Roll90Yaw270</value>
+          <value code="38">Yaw293Pitch68Roll180</value>
+          <value code="39">Pitch315</value>
+          <value code="40">Roll90Pitch315</value>
+          <value code="100">Custom</value>
+        </values>
+      </param>
+      <param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+        <values>
+          <value code="0">Internal</value>
+          <value code="1">External</value>
+          <value code="2">ForcedExternal</value>
+        </values>
+      </param>
+      <param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+      <param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+      <param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+      <param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+      <param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+      <param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+      <param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
+        <field name="Range">4 32</field>
+        <values>
+          <value code="4">Very Strict</value>
+          <value code="8">Strict</value>
+          <value code="16">Default</value>
+          <value code="32">Relaxed</value>
+        </values>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
+        <field name="Range">500 3000</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
+        <field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS</field>
+      </param>
+      <param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+        <field name="Units">%</field>
+        <field name="UnitText">percent</field>
+        <field name="Range">0 100</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Automatically check orientation" name="COMPASS_AUTO_ROT" documentation="When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">CheckOnly</value>
+          <value code="2">CheckAndFix</value>
+        </values>
+      </param>
+      <param humanName="Compass device id with 1st order priority" name="COMPASS_PRIO1_ID" documentation="Compass device id with 1st order priority, set automatically if 0. Reboot required after change." user="Advanced">
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Compass device id with 2nd order priority" name="COMPASS_PRIO2_ID" documentation="Compass device id with 2nd order priority, set automatically if 0. Reboot required after change." user="Advanced">
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Compass device id with 3rd order priority" name="COMPASS_PRIO3_ID" documentation="Compass device id with 3rd order priority, set automatically if 0. Reboot required after change." user="Advanced">
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Enable Compass" name="COMPASS_ENABLE" documentation="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." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Compass1 scale factor" name="COMPASS_SCALE" documentation="Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done" user="Standard">
+        <field name="Range">0 1.3</field>
+      </param>
+      <param humanName="Compass2 scale factor" name="COMPASS_SCALE2" documentation="Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done" user="Standard">
+        <field name="Range">0 1.3</field>
+      </param>
+      <param humanName="Compass3 scale factor" name="COMPASS_SCALE3" documentation="Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done" user="Standard">
+        <field name="Range">0 1.3</field>
+      </param>
+      <param humanName="Compass options" name="COMPASS_OPTIONS" documentation="This sets options to change the behaviour of the compass" user="Advanced">
+        <field name="Bitmask">0:CalRequireGPS</field>
+      </param>
+      <param humanName="Compass4 device id" name="COMPASS_DEV_ID4" documentation="Extra 4th compass's device id.  Automatically detected, do not set manually" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Compass5 device id" name="COMPASS_DEV_ID5" documentation="Extra 5th compass's device id.  Automatically detected, do not set manually" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Compass6 device id" name="COMPASS_DEV_ID6" documentation="Extra 6th compass's device id.  Automatically detected, do not set manually" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Compass7 device id" name="COMPASS_DEV_ID7" documentation="Extra 7th compass's device id.  Automatically detected, do not set manually" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Compass8 device id" name="COMPASS_DEV_ID8" documentation="Extra 8th compass's device id.  Automatically detected, do not set manually" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Custom orientation roll offset" name="COMPASS_CUS_ROLL" documentation="Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM." user="Advanced">
+        <field name="Range">-180 180</field>
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Custom orientation pitch offset" name="COMPASS_CUS_PIT" documentation="Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM." user="Advanced">
+        <field name="Range">-180 180</field>
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Custom orientation yaw offset" name="COMPASS_CUS_YAW" documentation="Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM." user="Advanced">
+        <field name="Range">-180 180</field>
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="COMPASS_PMOT">
+      <param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
+        <field name="Range">0 2</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
+</param>
+      <param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
+</param>
+      <param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
+</param>
+      <param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
+</param>
+      <param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
+</param>
+      <param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
+</param>
+      <param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
+</param>
+      <param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
+</param>
+      <param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
+</param>
+      <param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
+</param>
+      <param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
+</param>
+      <param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
+</param>
+    </parameters>
+    <parameters name="EAHRS">
+      <param humanName="AHRS type" name="EAHRS_TYPE" documentation="Type of AHRS device" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">VectorNav</value>
+        </values>
+      </param>
+      <param humanName="AHRS data rate" name="EAHRS_RATE" documentation="Requested rate for AHRS device" user="Standard">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+    </parameters>
+    <parameters name="EK2_">
+      <param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+        <values>
+          <value code="0">GPS 3D Vel and 2D Pos</value>
+          <value code="1">GPS 2D vel and 2D pos</value>
+          <value code="2">GPS 2D pos</value>
+          <value code="3">No GPS</value>
+        </values>
+      </param>
+      <param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+        <field name="Range">0.05 5.0</field>
+        <field name="Increment">0.05</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+        <field name="Range">0.05 5.0</field>
+        <field name="Increment">0.05</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
+        <field name="Range">0.1 10.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+        <field name="Range">10 100</field>
+        <field name="Increment">5</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation="Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS)." user="Advanced">
+        <values>
+          <value code="0">Use Baro</value>
+          <value code="1">Use Range Finder</value>
+          <value code="2">Use GPS</value>
+          <value code="3">Use Range Beacon</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+        <field name="Range">0.1 10.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+        <field name="Range">0 250</field>
+        <field name="Increment">10</field>
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+        <field name="Range">0.01 0.5</field>
+        <field name="Increment">0.01</field>
+        <field name="Units">Gauss</field>
+        <field name="UnitText">gauss</field>
+      </param>
+      <param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK." user="Advanced">
+        <values>
+          <value code="0">When flying</value>
+          <value code="1">When manoeuvring</value>
+          <value code="2">Never</value>
+          <value code="3">After first climb yaw reset</value>
+          <value code="4">Always</value>
+        </values>
+      </param>
+      <param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+        <field name="Range">0.5 5.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+        <field name="Range">0.1 10.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+        <field name="Range">1.0 4.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+      </param>
+      <param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+        <field name="Range">0.05 1.0</field>
+        <field name="Increment">0.05</field>
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+      </param>
+      <param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="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." user="Advanced">
+        <field name="Range">0 127</field>
+        <field name="Increment">10</field>
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance 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." user="Advanced">
+        <field name="Range">0.0001 0.1</field>
+        <field name="Increment">0.0001</field>
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+      </param>
+      <param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance 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." user="Advanced">
+        <field name="Range">0.01 1.0</field>
+        <field name="Increment">0.01</field>
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+      </param>
+      <param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+        <field name="Range">0.00001 0.001</field>
+        <field name="Units">rad/s/s</field>
+        <field name="UnitText">radians per square second</field>
+      </param>
+      <param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
+        <field name="Range">0.000001 0.001</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+        <field name="Range">0.00001 0.005</field>
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
+      </param>
+      <param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+        <field name="Range">0.01 1.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+      </param>
+      <param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+        <field name="Range">0.0 1.0</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+        <field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+      </param>
+      <param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
+        <field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+        <field name="Range">50 200</field>
+        <field name="Units">%</field>
+        <field name="UnitText">percent</field>
+      </param>
+      <param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+        <field name="Range">0.5 50.0</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+        <field name="Range">0.05 1.0</field>
+        <field name="Increment">0.05</field>
+        <field name="Units">rad</field>
+        <field name="UnitText">radians</field>
+      </param>
+      <param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+        <field name="Range">10 50</field>
+        <field name="Increment">5</field>
+        <field name="Units">cs</field>
+        <field name="UnitText">centiseconds</field>
+      </param>
+      <param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+        <field name="Range">0.00001 0.01</field>
+        <field name="Units">Gauss/s</field>
+        <field name="UnitText">gauss per second</field>
+      </param>
+      <param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+        <field name="Range">0.00001 0.01</field>
+        <field name="Units">Gauss/s</field>
+        <field name="UnitText">gauss per second</field>
+      </param>
+      <param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
+        <field name="Range">-1 70</field>
+        <field name="Increment">1</field>
+        <field name="Units">%</field>
+        <field name="UnitText">percent</field>
+      </param>
+      <param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height." user="Advanced">
+        <field name="Range">0 0.2</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+        <field name="Range">0.1 10.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon 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." user="Advanced">
+        <field name="Range">0 127</field>
+        <field name="Increment">10</field>
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+        <field name="Range">2.0 6.0</field>
+        <field name="Increment">0.5</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+        <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Bitmask control of EKF reference height correction" name="EK2_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+        <field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Optical flow use bitmask" name="EK2_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Navigation</value>
+          <value code="2">Terrain</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="EarthField error limit" name="EK2_MAG_EF_LIM" documentation="This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables." user="Advanced">
+        <field name="Range">0 500</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+      </param>
+      <param humanName="Height rate filter crossover frequency" name="EK2_HRT_FILT" documentation="Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.">
+        <field name="Range">0.1 30.0</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="RebootRequired">False</field>
+      </param>
+      <param humanName="Bitmask of which EKF-GSF yaw estimators run" name="EK2_GSF_RUN_MASK" documentation="1 byte bitmap of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE, EK2_GSF_DELAY and EK2_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE to 0. " user="Advanced">
+        <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Bitmask of which EKF-GSF yaw estimators are used" name="EK2_GSF_USE_MASK" documentation="1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. Additionally the EKF2 will  initiate a reset internally if navigation is lost for more than EK2_GSF_DELAY milli seconds." user="Advanced">
+        <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK2_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter." user="Advanced">
+        <field name="Range">1 10</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="EK3_">
+      <param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+        <field name="Range">0.05 5.0</field>
+        <field name="Increment">0.05</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+        <field name="Range">0.05 5.0</field>
+        <field name="Increment">0.05</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
+        <field name="Range">0.1 10.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+        <field name="Range">10 100</field>
+        <field name="Increment">5</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+        <field name="Range">0.1 10.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+        <field name="Range">0 250</field>
+        <field name="Increment">10</field>
+        <field name="RebootRequired">True</field>
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+      </param>
+      <param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+        <field name="Range">0.01 0.5</field>
+        <field name="Increment">0.01</field>
+        <field name="Units">Gauss</field>
+        <field name="UnitText">gauss</field>
+      </param>
+      <param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement." user="Advanced">
+        <values>
+          <value code="0">When flying</value>
+          <value code="1">When manoeuvring</value>
+          <value code="2">Never</value>
+          <value code="3">After first climb yaw reset</value>
+          <value code="4">Always</value>
+          <value code="5">Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)</value>
+          <value code="6">External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+        <field name="Range">0.5 5.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+        <field name="Range">0.1 10.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+        <field name="Range">1.0 4.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+      </param>
+      <param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+        <field name="Range">0.05 1.0</field>
+        <field name="Increment">0.05</field>
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+      </param>
+      <param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="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." user="Advanced">
+        <field name="Range">0 250</field>
+        <field name="Increment">10</field>
+        <field name="RebootRequired">True</field>
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+      </param>
+      <param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance 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." user="Advanced">
+        <field name="Range">0.0001 0.1</field>
+        <field name="Increment">0.0001</field>
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+      </param>
+      <param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance 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." user="Advanced">
+        <field name="Range">0.01 1.0</field>
+        <field name="Increment">0.01</field>
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+      </param>
+      <param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+        <field name="Range">0.00001 0.001</field>
+        <field name="Units">rad/s/s</field>
+        <field name="UnitText">radians per square second</field>
+      </param>
+      <param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+        <field name="Range">0.00001 0.005</field>
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
+      </param>
+      <param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+        <field name="Range">0.01 2.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+      </param>
+      <param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+        <field name="Range">0.0 2.0</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+        <field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+      </param>
+      <param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
+        <field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+        <field name="Range">50 200</field>
+        <field name="Units">%</field>
+        <field name="UnitText">percent</field>
+      </param>
+      <param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+        <field name="Range">0.5 50.0</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Bitmask controlling sidelip angle fusion" name="EK3_BETA_MASK" documentation="1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected  whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary." user="Advanced">
+        <field name="Bitmask">0:Always,1:WhenNoYawSensor</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+        <field name="Range">0.05 1.0</field>
+        <field name="Increment">0.05</field>
+        <field name="Units">rad</field>
+        <field name="UnitText">radians</field>
+      </param>
+      <param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+        <field name="Range">10 50</field>
+        <field name="Increment">5</field>
+        <field name="Units">cs</field>
+        <field name="UnitText">centiseconds</field>
+      </param>
+      <param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+        <field name="Range">0.00001 0.01</field>
+        <field name="Units">Gauss/s</field>
+        <field name="UnitText">gauss per second</field>
+      </param>
+      <param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+        <field name="Range">0.00001 0.01</field>
+        <field name="Units">Gauss/s</field>
+        <field name="UnitText">gauss per second</field>
+      </param>
+      <param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
+        <field name="Range">-1 70</field>
+        <field name="Increment">1</field>
+        <field name="Units">%</field>
+        <field name="UnitText">percent</field>
+      </param>
+      <param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
+        <field name="Range">0 0.2</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+        <field name="Range">0.1 10.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+      </param>
+      <param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon 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." user="Advanced">
+        <field name="Range">100 1000</field>
+        <field name="Increment">25</field>
+      </param>
+      <param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
+        <field name="Range">0 250</field>
+        <field name="Increment">10</field>
+        <field name="RebootRequired">True</field>
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+      </param>
+      <param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+        <field name="Range">2.0 6.0</field>
+        <field name="Increment">0.5</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
+        <field name="Range">0.5 2.5</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+      </param>
+      <param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+        <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Bitmask control of EKF reference height correction" name="EK3_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+        <field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Visual odometry minimum velocity error" name="EK3_VIS_VERR_MIN" documentation="This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+        <field name="Range">0.05 0.5</field>
+        <field name="Increment">0.05</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="Visual odometry maximum velocity error" name="EK3_VIS_VERR_MAX" documentation="This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+        <field name="Range">0.5 5.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="Wheel odometry velocity error" name="EK3_WENC_VERR" documentation="This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused." user="Advanced">
+        <field name="Range">0.01 1.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+      </param>
+      <param humanName="Optical flow use bitmask" name="EK3_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Navigation</value>
+          <value code="2">Terrain</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Height rate filter crossover frequency" name="EK3_HRT_FILT" documentation="Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.">
+        <field name="Range">0.1 30.0</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="RebootRequired">False</field>
+      </param>
+      <param humanName="EarthField error limit" name="EK3_MAG_EF_LIM" documentation="This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables." user="Advanced">
+        <field name="Range">0 500</field>
+        <field name="Units">mGauss</field>
+        <field name="UnitText">milligauss</field>
+      </param>
+      <param humanName="Bitmask of which EKF-GSF yaw estimators run" name="EK3_GSF_RUN_MASK" documentation="1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE, EK3_GSF_DELAY and EK3_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. " user="Advanced">
+        <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Bitmask of which EKF-GSF yaw estimators are used" name="EK3_GSF_USE_MASK" documentation="1 byte bitmap of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. Additionally the EKF3 will  initiate a reset internally if navigation is lost for more than EK3_GSF_DELAY milli seconds." user="Advanced">
+        <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK3_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter." user="Advanced">
+        <field name="Range">1 10</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="EKF3 Lane Relative Error Sensitivity Threshold" name="EK3_ERR_THRESH" documentation="lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences" user="Advanced">
+        <field name="Range">0.05 1</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="EKF3 Sensor Affinity Options" name="EK3_AFFINITY" documentation="These options control the affinity between sensor instances and EKF cores" user="Advanced">
+        <field name="Bitmask">0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Ballistic coefficient for X axis drag" name="EK3_DRAG_BCOEF_X" documentation="Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value &gt; 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter." user="Advanced">
+        <field name="Range">0.0 1000.0</field>
+        <field name="Units">kg/m/m</field>
+        <field name="UnitText">kilograms per square meter</field>
+      </param>
+      <param humanName="Ballistic coefficient for Y axis drag" name="EK3_DRAG_BCOEF_Y" documentation="Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value &gt; 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter." user="Advanced">
+        <field name="Range">50.0 1000.0</field>
+        <field name="Units">kg/m/m</field>
+        <field name="UnitText">kilograms per square meter</field>
+      </param>
+      <param humanName="Observation noise for drag acceleration" name="EK3_DRAG_M_NSE" documentation="This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters" user="Advanced">
+        <field name="Range">0.1 2.0</field>
+        <field name="Increment">0.1</field>
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+      </param>
+      <param humanName="Momentum coefficient for propeller drag" name="EK3_DRAG_MCOEF" documentation="This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters." user="Advanced">
+        <field name="Range">0.0 1.0</field>
+        <field name="Increment">0.01</field>
+        <field name="Units">1/s</field>
+        <field name="UnitText">per second</field>
+      </param>
+      <param humanName="On ground not moving test scale factor" name="EK3_OGNM_TEST_SF" documentation="This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels." user="Advanced">
+        <field name="Range">1.0 10.0</field>
+        <field name="Increment">0.5</field>
+      </param>
+      <param humanName="Baro height ground effect dead zone" name="EK3_GND_EFF_DZ" documentation="This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. " user="Advanced">
+        <field name="Range">0.0 10.0</field>
+        <field name="Increment">0.5</field>
+      </param>
+      <param humanName="Primary core number" name="EK3_PRIMARY" documentation="The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK." user="Advanced">
+        <field name="Range">0 2</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="EK3_SRC">
+      <param humanName="Position Horizontal Source (Primary)" name="EK3_SRC1_POSXY" documentation="Position Horizontal Source (Primary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="6">ExternalNav</value>
+        </values>
+      </param>
+      <param humanName="Velocity Horizontal Source" name="EK3_SRC1_VELXY" documentation="Velocity Horizontal Source" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="5">OpticalFlow</value>
+          <value code="6">ExternalNav</value>
+          <value code="7">WheelEncoder</value>
+        </values>
+      </param>
+      <param humanName="Position Vertical Source" name="EK3_SRC1_POSZ" documentation="Position Vertical Source" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Baro</value>
+          <value code="2">RangeFinder</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="6">ExternalNav</value>
+        </values>
+      </param>
+      <param humanName="Velocity Vertical Source" name="EK3_SRC1_VELZ" documentation="Velocity Vertical Source" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="6">ExternalNav</value>
+        </values>
+      </param>
+      <param humanName="Yaw Source" name="EK3_SRC1_YAW" documentation="Yaw Source" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Compass</value>
+          <value code="2">GPS</value>
+          <value code="3">GPS with Compass Fallback</value>
+          <value code="6">ExternalNav</value>
+          <value code="8">GSF</value>
+        </values>
+      </param>
+      <param humanName="Position Horizontal Source (Secondary)" name="EK3_SRC2_POSXY" documentation="Position Horizontal Source (Secondary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="6">ExternalNav</value>
+        </values>
+      </param>
+      <param humanName="Velocity Horizontal Source (Secondary)" name="EK3_SRC2_VELXY" documentation="Velocity Horizontal Source (Secondary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="5">OpticalFlow</value>
+          <value code="6">ExternalNav</value>
+          <value code="7">WheelEncoder</value>
+        </values>
+      </param>
+      <param humanName="Position Vertical Source (Secondary)" name="EK3_SRC2_POSZ" documentation="Position Vertical Source (Secondary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Baro</value>
+          <value code="2">RangeFinder</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="6">ExternalNav</value>
+        </values>
+      </param>
+      <param humanName="Velocity Vertical Source (Secondary)" name="EK3_SRC2_VELZ" documentation="Velocity Vertical Source (Secondary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="6">ExternalNav</value>
+        </values>
+      </param>
+      <param humanName="Yaw Source (Secondary)" name="EK3_SRC2_YAW" documentation="Yaw Source (Secondary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Compass</value>
+          <value code="2">GPS</value>
+          <value code="3">GPS with Compass Fallback</value>
+          <value code="6">ExternalNav</value>
+          <value code="8">GSF</value>
+        </values>
+      </param>
+      <param humanName="Position Horizontal Source (Tertiary)" name="EK3_SRC3_POSXY" documentation="Position Horizontal Source (Tertiary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="6">ExternalNav</value>
+        </values>
+      </param>
+      <param humanName="Velocity Horizontal Source (Tertiary)" name="EK3_SRC3_VELXY" documentation="Velocity Horizontal Source (Tertiary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="5">OpticalFlow</value>
+          <value code="6">ExternalNav</value>
+          <value code="7">WheelEncoder</value>
+        </values>
+      </param>
+      <param humanName="Position Vertical Source (Tertiary)" name="EK3_SRC3_POSZ" documentation="Position Vertical Source (Tertiary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Baro</value>
+          <value code="2">RangeFinder</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="6">ExternalNav</value>
+        </values>
+      </param>
+      <param humanName="Velocity Vertical Source (Tertiary)" name="EK3_SRC3_VELZ" documentation="Velocity Vertical Source (Tertiary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="3">GPS</value>
+          <value code="4">Beacon</value>
+          <value code="6">ExternalNav</value>
+        </values>
+      </param>
+      <param humanName="Yaw Source (Tertiary)" name="EK3_SRC3_YAW" documentation="Yaw Source (Tertiary)" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Compass</value>
+          <value code="2">GPS</value>
+          <value code="3">GPS with Compass Fallback</value>
+          <value code="6">ExternalNav</value>
+          <value code="8">GSF</value>
+        </values>
+      </param>
+      <param humanName="EKF Source Options" name="EK3_SRC_OPTIONS" documentation="EKF Source Options" user="Advanced">
+        <field name="Bitmask">0:FuseAllVelocities</field>
+      </param>
+    </parameters>
+    <parameters name="FENCE_">
+      <param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
+        <field name="Bitmask">0:Max altitude,1:Circle,2:Polygon,3:Min altitude</field>
+      </param>
+      <param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
+        <values>
+          <value code="0">Report Only</value>
+          <value code="1">RTL or Land</value>
+        </values>
+      </param>
+      <param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">10 1000</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">30 10000</field>
+      </param>
+      <param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">1 10</field>
+      </param>
+      <param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
+        <field name="Range">1 20</field>
+      </param>
+      <param humanName="Fence Minimum Altitude" name="FENCE_ALT_MIN" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-100 100</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="FFT_">
+      <param humanName="Enable" name="FFT_ENABLE" documentation="Enable Gyro FFT analyser" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Minimum Frequency" name="FFT_MINHZ" documentation="Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles." user="Advanced">
+        <field name="Range">20 400</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Maximum Frequency" name="FFT_MAXHZ" documentation="Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles." user="Advanced">
+        <field name="Range">20 495</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Sample Mode" name="FFT_SAMPLE_MODE" documentation="Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot." user="Advanced">
+        <field name="Range">0 4</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="FFT window size" name="FFT_WINDOW_SIZE" documentation="Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class." user="Advanced">
+        <field name="Range">32 1024</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="FFT window overlap" name="FFT_WINDOW_OLAP" documentation="Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges." user="Advanced">
+        <field name="Range">0 0.9</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="FFT learned hover frequency" name="FFT_FREQ_HOVER" documentation="The learned hover noise frequency" user="Advanced">
+        <field name="Range">0 250</field>
+      </param>
+      <param humanName="FFT learned thrust reference" name="FFT_THR_REF" documentation="FFT learned thrust reference for the hover frequency and FFT minimum frequency." user="Advanced">
+        <field name="Range">0.01 0.9</field>
+      </param>
+      <param humanName="FFT SNR reference threshold" name="FFT_SNR_REF" documentation="FFT SNR reference threshold in dB at which a signal is determined to be present." user="Advanced">
+        <field name="Range">0.0 100.0</field>
+      </param>
+      <param humanName="FFT attenuation for bandwidth calculation" name="FFT_ATT_REF" documentation="FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight." user="Advanced">
+        <field name="Range">0 100</field>
+      </param>
+      <param humanName="FFT learned bandwidth at hover" name="FFT_BW_HOVER" documentation="FFT learned bandwidth at hover for the attenuation frequencies." user="Advanced">
+        <field name="Range">0 200</field>
+      </param>
+      <param humanName="FFT harmonic fit frequency threshold" name="FFT_HMNC_FIT" documentation="FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching." user="Advanced">
+        <field name="Range">0 100</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="FFT harmonic peak target" name="FFT_HMNC_PEAK" documentation="The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll)." user="Advanced">
+        <values>
+          <value code="0">Auto</value>
+          <value code="1">Center Frequency</value>
+          <value code="2">Lower-Shoulder Frequency</value>
+          <value code="3">Upper-Shoulder Frequency</value>
+          <value code="4">Roll-Axis</value>
+          <value code="5">Pitch-Axis</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="FLOW">
+      <param humanName="Optical flow sensor type" name="FLOW_TYPE" documentation="Optical flow sensor type" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">PX4Flow</value>
+          <value code="2">Pixart</value>
+          <value code="3">Bebop</value>
+          <value code="4">CXOF</value>
+          <value code="5">MAVLink</value>
+          <value code="6">UAVCAN</value>
+          <value code="7">MSP</value>
+          <value code="8">UPFLOW</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="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." user="Standard">
+        <field name="Range">-200 +200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="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." user="Standard">
+        <field name="Range">-200 +200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-17999 +18000</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName=" X position offset" name="FLOW_POS_X" documentation="X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="FLOW_POS_Y" documentation="Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="FLOW_POS_Z" documentation="Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Address on the bus" name="FLOW_ADDR" documentation="This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
+        <field name="Range">0 127</field>
+      </param>
+    </parameters>
+    <parameters name="FRSKY_">
+      <param humanName="Uplink sensor id" name="FRSKY_UPLINK_ID" documentation="Change the uplink sensor id (SPort only)" user="Advanced">
+        <values>
+          <value code="-1">Disable</value>
+          <value code="7">7</value>
+          <value code="8">8</value>
+          <value code="9">9</value>
+          <value code="10">10</value>
+          <value code="11">11</value>
+          <value code="12">12</value>
+          <value code="13">13</value>
+          <value code="14">14</value>
+          <value code="15">15</value>
+          <value code="16">16</value>
+          <value code="17">17</value>
+          <value code="18">18</value>
+          <value code="19">19</value>
+          <value code="20">20</value>
+          <value code="21">21</value>
+          <value code="22">22</value>
+          <value code="23">23</value>
+          <value code="24">24</value>
+          <value code="25">25</value>
+          <value code="26">26</value>
+        </values>
+      </param>
+      <param humanName="First downlink sensor id" name="FRSKY_DNLINK1_ID" documentation="Change the first extra downlink sensor id (SPort only)" user="Advanced">
+        <values>
+          <value code="-1">Disable</value>
+          <value code="7">7</value>
+          <value code="8">8</value>
+          <value code="9">9</value>
+          <value code="10">10</value>
+          <value code="11">11</value>
+          <value code="12">12</value>
+          <value code="13">13</value>
+          <value code="14">14</value>
+          <value code="15">15</value>
+          <value code="16">16</value>
+          <value code="17">17</value>
+          <value code="18">18</value>
+          <value code="19">19</value>
+          <value code="20">20</value>
+          <value code="21">21</value>
+          <value code="22">22</value>
+          <value code="23">23</value>
+          <value code="24">24</value>
+          <value code="25">25</value>
+          <value code="26">26</value>
+        </values>
+      </param>
+      <param humanName="Second downlink sensor id" name="FRSKY_DNLINK2_ID" documentation="Change the second extra downlink sensor id (SPort only)" user="Advanced">
+        <values>
+          <value code="-1">Disable</value>
+          <value code="7">7</value>
+          <value code="8">8</value>
+          <value code="9">9</value>
+          <value code="10">10</value>
+          <value code="11">11</value>
+          <value code="12">12</value>
+          <value code="13">13</value>
+          <value code="14">14</value>
+          <value code="15">15</value>
+          <value code="16">16</value>
+          <value code="17">17</value>
+          <value code="18">18</value>
+          <value code="19">19</value>
+          <value code="20">20</value>
+          <value code="21">21</value>
+          <value code="22">22</value>
+          <value code="23">23</value>
+          <value code="24">24</value>
+          <value code="25">25</value>
+          <value code="26">26</value>
+        </values>
+      </param>
+      <param humanName="Default downlink sensor id" name="FRSKY_DNLINK_ID" documentation="Change the default downlink sensor id (SPort only)" user="Advanced">
+        <values>
+          <value code="-1">Disable</value>
+          <value code="7">7</value>
+          <value code="8">8</value>
+          <value code="9">9</value>
+          <value code="10">10</value>
+          <value code="11">11</value>
+          <value code="12">12</value>
+          <value code="13">13</value>
+          <value code="14">14</value>
+          <value code="15">15</value>
+          <value code="16">16</value>
+          <value code="17">17</value>
+          <value code="18">18</value>
+          <value code="19">19</value>
+          <value code="20">20</value>
+          <value code="21">21</value>
+          <value code="22">22</value>
+          <value code="23">23</value>
+          <value code="24">24</value>
+          <value code="25">25</value>
+          <value code="26">26</value>
+          <value code="27">27</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="GEN_">
+      <param humanName="Generator type" name="GEN_TYPE" documentation="Generator type" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">IE 650w 800w Fuel Cell</value>
+          <value code="2">IE 2.4kW Fuel Cell</value>
+          <value code="3">Richenpower</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="GPS">
+      <param humanName="1st GPS type" name="GPS_TYPE" documentation="GPS type of 1st GPS" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">AUTO</value>
+          <value code="2">uBlox</value>
+          <value code="3">MTK</value>
+          <value code="4">MTK19</value>
+          <value code="5">NMEA</value>
+          <value code="6">SiRF</value>
+          <value code="7">HIL</value>
+          <value code="8">SwiftNav</value>
+          <value code="9">UAVCAN</value>
+          <value code="10">SBF</value>
+          <value code="11">GSOF</value>
+          <value code="13">ERB</value>
+          <value code="14">MAV</value>
+          <value code="15">NOVA</value>
+          <value code="16">HemisphereNMEA</value>
+          <value code="17">uBlox-MovingBaseline-Base</value>
+          <value code="18">uBlox-MovingBaseline-Rover</value>
+          <value code="19">MSP</value>
+          <value code="20">AllyStar</value>
+          <value code="21">ExternalAHRS</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">AUTO</value>
+          <value code="2">uBlox</value>
+          <value code="3">MTK</value>
+          <value code="4">MTK19</value>
+          <value code="5">NMEA</value>
+          <value code="6">SiRF</value>
+          <value code="7">HIL</value>
+          <value code="8">SwiftNav</value>
+          <value code="9">UAVCAN</value>
+          <value code="10">SBF</value>
+          <value code="11">GSOF</value>
+          <value code="13">ERB</value>
+          <value code="14">MAV</value>
+          <value code="15">NOVA</value>
+          <value code="16">HemisphereNMEA</value>
+          <value code="17">uBlox-MovingBaseline-Base</value>
+          <value code="18">uBlox-MovingBaseline-Rover</value>
+          <value code="19">MSP</value>
+          <value code="20">AllyStar</value>
+          <value code="21">ExternalAHRS</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
+        <values>
+          <value code="0">Portable</value>
+          <value code="2">Stationary</value>
+          <value code="3">Pedestrian</value>
+          <value code="4">Automotive</value>
+          <value code="5">Sea</value>
+          <value code="6">Airborne1G</value>
+          <value code="7">Airborne2G</value>
+          <value code="8">Airborne4G</value>
+        </values>
+      </param>
+      <param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary" user="Advanced">
+        <values>
+          <value code="0">Use primary</value>
+          <value code="1">UseBest</value>
+          <value code="2">Blend</value>
+          <value code="4">Use primary if 3D fix or better</value>
+        </values>
+      </param>
+      <param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
+        <values>
+          <value code="0">Any</value>
+          <value code="50">FloatRTK</value>
+          <value code="100">IntegerRTK</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="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." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+          <value code="2">NoChange</value>
+        </values>
+      </param>
+      <param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="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." user="Advanced">
+        <field name="Range">-100 90</field>
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+      </param>
+      <param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
+        <values>
+          <value code="0">send to first GPS</value>
+          <value code="1">send to 2nd GPS</value>
+          <value code="127">send to all</value>
+        </values>
+      </param>
+      <param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
+        <values>
+          <value code="0">None (0x0000)</value>
+          <value code="-1">All (0xFFFF)</value>
+          <value code="-256">External only (0xFF00)</value>
+        </values>
+      </param>
+      <param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
+        <values>
+          <value code="0">Ignore</value>
+          <value code="1">Always log</value>
+          <value code="2">Stop logging when disarmed (SBF only)</value>
+          <value code="5">Only log every five samples (uBlox only)</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+        <field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS</field>
+      </param>
+      <param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
+        <values>
+          <value code="0">Do not save config</value>
+          <value code="1">Save config</value>
+          <value code="2">Save only when needed</value>
+        </values>
+      </param>
+      <param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+        <field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS</field>
+      </param>
+      <param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
+        <values>
+          <value code="0">Disables automatic configuration</value>
+          <value code="1">Enable automatic configuration</value>
+        </values>
+      </param>
+      <param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance." user="Advanced">
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <values>
+          <value code="100">10Hz</value>
+          <value code="125">8Hz</value>
+          <value code="200">5Hz</value>
+        </values>
+        <field name="Range">50 200</field>
+      </param>
+      <param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance." user="Advanced">
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <values>
+          <value code="100">10Hz</value>
+          <value code="125">8Hz</value>
+          <value code="200">5Hz</value>
+        </values>
+        <field name="Range">50 200</field>
+      </param>
+      <param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <field name="Range">0 250</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <field name="Range">0 250</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)" user="Advanced">
+        <field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
+      </param>
+      <param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">5.0 30.0</field>
+      </param>
+      <param humanName="driver options" name="GPS_DRV_OPTIONS" documentation="Additional backend specific options" user="Advanced">
+        <field name="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200</field>
+      </param>
+      <param humanName="GPS physical COM port" name="GPS_COM_PORT" documentation="The physical COM port on the connected device, currently only applies to SBF GPS" user="Advanced">
+        <field name="Range">0 10</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="GPS physical COM port" name="GPS_COM_PORT2" documentation="The physical COM port on the connected device, currently only applies to SBF GPS" user="Advanced">
+        <field name="Range">0 10</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Primary GPS" name="GPS_PRIMARY" documentation="This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4." user="Advanced">
+        <field name="Increment">1</field>
+        <values>
+          <value code="0">FirstGPS</value>
+          <value code="1">SecondGPS</value>
+        </values>
+      </param>
+      <param humanName="GPS Node ID 1" name="GPS_CAN_NODEID1" documentation="GPS Node id for discovered first." user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="GPS Node ID 2" name="GPS_CAN_NODEID2" documentation="GPS Node id for discovered second." user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="First UAVCAN GPS NODE ID" name="GPS1_CAN_OVRIDE" documentation="GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis." user="Advanced">
+</param>
+      <param humanName="Second UAVCAN GPS NODE ID" name="GPS2_CAN_OVRIDE" documentation="GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis." user="Advanced">
+</param>
+    </parameters>
+    <parameters name="GPS_MB1_">
+      <param humanName="Moving base type" name="GPS_MB1_TYPE" documentation="Controls the type of moving base used if using moving base." user="Advanced">
+        <values>
+          <value code="0">Relative to alternate GPS instance</value>
+          <value code="1">RelativeToCustomBase</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Base antenna X position offset" name="GPS_MB1_OFS_X" documentation="X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Base antenna Y position offset    " name="GPS_MB1_OFS_Y" documentation="Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Base antenna Z position offset" name="GPS_MB1_OFS_Z" documentation="Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+    </parameters>
+    <parameters name="GPS_MB2_">
+      <param humanName="Moving base type" name="GPS_MB2_TYPE" documentation="Controls the type of moving base used if using moving base." user="Advanced">
+        <values>
+          <value code="0">Relative to alternate GPS instance</value>
+          <value code="1">RelativeToCustomBase</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Base antenna X position offset" name="GPS_MB2_OFS_X" documentation="X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Base antenna Y position offset    " name="GPS_MB2_OFS_Y" documentation="Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Base antenna Z position offset" name="GPS_MB2_OFS_Z" documentation="Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+    </parameters>
+    <parameters name="GRIP_">
+      <param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Servo</value>
+          <value code="2">EPM</value>
+        </values>
+      </param>
+      <param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
+        <field name="Range">1000 2000</field>
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+      </param>
+      <param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
+        <field name="Range">1000 2000</field>
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+      </param>
+      <param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value in microseconds sent to grabber when not grabbing or releasing" user="Advanced">
+        <field name="Range">1000 2000</field>
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+      </param>
+      <param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
+        <field name="Range">0 255</field>
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+      </param>
+      <param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+    </parameters>
+    <parameters name="INS_">
+      <param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
+        <field name="Units">rad/s</field>
+        <field name="UnitText">radians per second</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
+        <field name="Range">0.8 1.2</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
+        <field name="Range">0.8 1.2</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
+        <field name="Range">0.8 1.2</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">-3.5 3.5</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">-3.5 3.5</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">-3.5 3.5</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
+        <field name="Range">0.8 1.2</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
+        <field name="Range">0.8 1.2</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
+        <field name="Range">0.8 1.2</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">-3.5 3.5</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">-3.5 3.5</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">-3.5 3.5</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
+        <field name="Range">0.8 1.2</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
+        <field name="Range">0.8 1.2</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced" calibration="1">
+        <field name="Range">0.8 1.2</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">-3.5 3.5</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">-3.5 3.5</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
+        <field name="Units">m/s/s</field>
+        <field name="UnitText">meters per square second</field>
+        <field name="Range">-3.5 3.5</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 256</field>
+      </param>
+      <param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 256</field>
+      </param>
+      <param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
+        <field name="Range">0.05 50</field>
+      </param>
+      <param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
+        <values>
+          <value code="0">Never</value>
+          <value code="1">Start-up only</value>
+        </values>
+      </param>
+      <param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
+        <values>
+          <value code="0">Don't adjust the trims</value>
+          <value code="1">Assume first orientation was level</value>
+          <value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
+        </values>
+      </param>
+      <param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
+        <values>
+          <value code="1">IMU 1</value>
+          <value code="2">IMU 2</value>
+          <value code="3">IMU 3</value>
+        </values>
+      </param>
+      <param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-10 10</field>
+      </param>
+      <param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
+        <field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
+      </param>
+      <param humanName="IMU enable mask" name="INS_ENABLE_MASK" documentation="Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs" user="Advanced">
+        <field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
+      </param>
+      <param humanName="Gyro rate for IMUs with Fast Sampling enabled" name="INS_GYRO_RATE" documentation="Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used." user="Advanced">
+        <values>
+          <value code="0">1kHz</value>
+          <value code="1">2kHz</value>
+          <value code="2">4kHz</value>
+          <value code="3">8kHz</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Calibration temperature for 1st accelerometer" name="INS_ACC1_CALTEMP" documentation="Temperature that the 1st accelerometer was calibrated at" user="Advanced" calibration="1">
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Calibration temperature for 1st gyroscope" name="INS_GYR1_CALTEMP" documentation="Temperature that the 1st gyroscope was calibrated at" user="Advanced" calibration="1">
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Calibration temperature for 2nd accelerometer" name="INS_ACC2_CALTEMP" documentation="Temperature that the 2nd accelerometer was calibrated at" user="Advanced" calibration="1">
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Calibration temperature for 2nd gyroscope" name="INS_GYR2_CALTEMP" documentation="Temperature that the 2nd gyroscope was calibrated at" user="Advanced" calibration="1">
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Calibration temperature for 3rd accelerometer" name="INS_ACC3_CALTEMP" documentation="Temperature that the 3rd accelerometer was calibrated at" user="Advanced" calibration="1">
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Calibration temperature for 3rd gyroscope" name="INS_GYR3_CALTEMP" documentation="Temperature that the 3rd gyroscope was calibrated at" user="Advanced" calibration="1">
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Options for temperature calibration" name="INS_TCAL_OPTIONS" documentation="This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader." user="Advanced">
+        <field name="Bitmask">0:PersistParams</field>
+      </param>
+    </parameters>
+    <parameters name="INS_HNTCH_">
+      <param humanName="Harmonic Notch Filter enable" name="INS_HNTCH_ENABLE" documentation="Harmonic Notch Filter enable" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Harmonic Notch Filter base frequency" name="INS_HNTCH_FREQ" documentation="Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter.  Recommend setting it to half the operating rotor speed in Hz." user="Advanced">
+        <field name="Range">10 495</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Harmonic Notch Filter bandwidth" name="INS_HNTCH_BW" documentation="Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics." user="Advanced">
+        <field name="Range">5 250</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Harmonic Notch Filter attenuation" name="INS_HNTCH_ATT" documentation="Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise." user="Advanced">
+        <field name="Range">5 50</field>
+        <field name="Units">dB</field>
+        <field name="UnitText">decibel</field>
+      </param>
+      <param humanName="Harmonic Notch Filter harmonics" name="INS_HNTCH_HMNCS" documentation="Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time." user="Advanced">
+        <field name="Bitmask">0:1st harmonic,1:2nd harmonic,2:3rd harmonic,3:4th hamronic,4:5th harmonic,5:6th harmonic,6:7th harmonic,7:8th harmonic</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Harmonic Notch Filter reference value" name="INS_HNTCH_REF" documentation="A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter.  For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter.  This reference value may also be used to scale the sensor data, if required.  For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM." user="Advanced">
+        <field name="Range">0.0 1.0</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Harmonic Notch Filter dynamic frequency tracking mode" name="INS_HNTCH_MODE" documentation="Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters." user="Advanced">
+        <field name="Range">0 4</field>
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Throttle</value>
+          <value code="2">RPM Sensor</value>
+          <value code="3">ESC Telemetry</value>
+          <value code="4">Dynamic FFT</value>
+        </values>
+      </param>
+      <param humanName="Harmonic Notch Filter options" name="INS_HNTCH_OPTS" documentation="Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz." user="Advanced">
+        <field name="Bitmask">0:Double notch,1:Dynamic harmonic,2:Update at loop rate</field>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="INS_LOG_">
+      <param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32. This option takes effect on the next reboot." user="Advanced">
+        <field name="Increment">32</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot." user="Advanced">
+        <field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time." user="Advanced">
+        <field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering</field>
+      </param>
+      <param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the AP_Logger log">
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="INS_NOTCH_">
+      <param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
+        <field name="Range">5 30</field>
+        <field name="Units">dB</field>
+        <field name="UnitText">decibel</field>
+      </param>
+      <param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
+        <field name="Range">10 400</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
+        <field name="Range">5 100</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+    </parameters>
+    <parameters name="INS_TCAL1_">
+      <param humanName="Enable temperature calibration" name="INS_TCAL1_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+          <value code="2">LearnCalibration</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Temperature calibration min" name="INS_TCAL1_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
+        <field name="Range">-70 80</field>
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Temperature calibration max" name="INS_TCAL1_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
+        <field name="Range">-70 80</field>
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL1_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL1_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL1_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL1_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL1_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL1_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL1_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL1_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL1_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL1_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL1_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL1_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL1_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL1_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL1_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL1_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL1_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL1_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+    </parameters>
+    <parameters name="INS_TCAL2_">
+      <param humanName="Enable temperature calibration" name="INS_TCAL2_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+          <value code="2">LearnCalibration</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Temperature calibration min" name="INS_TCAL2_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
+        <field name="Range">-70 80</field>
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Temperature calibration max" name="INS_TCAL2_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
+        <field name="Range">-70 80</field>
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL2_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL2_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL2_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL2_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL2_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL2_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL2_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL2_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL2_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL2_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL2_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL2_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL2_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL2_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL2_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL2_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL2_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL2_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+    </parameters>
+    <parameters name="INS_TCAL3_">
+      <param humanName="Enable temperature calibration" name="INS_TCAL3_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+          <value code="2">LearnCalibration</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Temperature calibration min" name="INS_TCAL3_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
+        <field name="Range">-70 80</field>
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Temperature calibration max" name="INS_TCAL3_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
+        <field name="Range">-70 80</field>
+        <field name="Units">degC</field>
+        <field name="UnitText">degrees Celsius</field>
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL3_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL3_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL3_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL3_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL3_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL3_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL3_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL3_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL3_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL3_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL3_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL3_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL3_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL3_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL3_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL3_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL3_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+      <param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL3_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+        <field name="Calibration">1</field>
+      </param>
+    </parameters>
+    <parameters name="LEAK">
+      <param humanName="Pin that leak detector is connected to" name="LEAK1_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="50">Pixhawk Aux1</value>
+          <value code="51">Pixhawk Aux2</value>
+          <value code="52">Pixhawk Aux3</value>
+          <value code="53">Pixhawk Aux4</value>
+          <value code="54">Pixhawk Aux5</value>
+          <value code="55">Pixhawk Aux6</value>
+          <value code="13">Pixhawk 3.3ADC1</value>
+          <value code="14">Pixhawk 3.3ADC2</value>
+          <value code="15">Pixhawk 6.6ADC</value>
+          <value code="27">Navigator Built-In</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Default reading of leak detector when dry" name="LEAK1_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
+        <values>
+          <value code="0">Low</value>
+          <value code="1">High</value>
+        </values>
+      </param>
+      <param humanName="Pin that leak detector is connected to" name="LEAK2_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="50">Pixhawk Aux1</value>
+          <value code="51">Pixhawk Aux2</value>
+          <value code="52">Pixhawk Aux3</value>
+          <value code="53">Pixhawk Aux4</value>
+          <value code="54">Pixhawk Aux5</value>
+          <value code="55">Pixhawk Aux6</value>
+          <value code="13">Pixhawk 3.3ADC1</value>
+          <value code="14">Pixhawk 3.3ADC2</value>
+          <value code="15">Pixhawk 6.6ADC</value>
+          <value code="27">Navigator Leak1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Default reading of leak detector when dry" name="LEAK2_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
+        <values>
+          <value code="0">Low</value>
+          <value code="1">High</value>
+        </values>
+      </param>
+      <param humanName="Pin that leak detector is connected to" name="LEAK3_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="50">Pixhawk Aux1</value>
+          <value code="51">Pixhawk Aux2</value>
+          <value code="52">Pixhawk Aux3</value>
+          <value code="53">Pixhawk Aux4</value>
+          <value code="54">Pixhawk Aux5</value>
+          <value code="55">Pixhawk Aux6</value>
+          <value code="13">Pixhawk 3.3ADC1</value>
+          <value code="14">Pixhawk 3.3ADC2</value>
+          <value code="15">Pixhawk 6.6ADC</value>
+          <value code="27">Navigator Leak1</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Default reading of leak detector when dry" name="LEAK3_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
+        <values>
+          <value code="0">Low</value>
+          <value code="1">High</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="LOG">
+      <param humanName="AP_Logger Backend Storage type" name="LOG_BACKEND_TYPE" documentation="Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected." user="Standard">
+        <field name="Bitmask">0:File,1:MAVLink,2:Block</field>
+      </param>
+      <param humanName="Maximum AP_Logger File and Block Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation="The File and Block backends use a buffer to store data before writing to the block device.  Raising this value may reduce &quot;gaps&quot; in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes." user="Standard">
+</param>
+      <param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Maximum AP_Logger MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to AP_Logger-over-mavlink" user="Advanced">
+        <field name="Units">kB</field>
+        <field name="UnitText">kilobytes</field>
+      </param>
+      <param humanName="Timeout before giving up on file writes" name="LOG_FILE_TIMEOUT" documentation="This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped." user="Standard">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+      </param>
+      <param humanName="Old logs on the SD card will be deleted to maintain this amount of free space" name="LOG_FILE_MB_FREE" documentation="Set this such that the free space is larger than your largest typical flight log" user="Standard">
+        <field name="Units">MB</field>
+        <field name="UnitText">megabyte</field>
+        <field name="Range">10 1000</field>
+      </param>
+    </parameters>
+    <parameters name="LOIT_">
+      <param humanName="Loiter Angle Max" name="LOIT_ANG_MAX" documentation="Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX" user="Advanced">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 45</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Loiter Horizontal Maximum Speed" name="LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
+        <field name="Units">cm/s</field>
+        <field name="UnitText">centimeters per second</field>
+        <field name="Range">20 3500</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Loiter maximum correction acceleration" name="LOIT_ACC_MAX" documentation="Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively." user="Advanced">
+        <field name="Units">cm/s/s</field>
+        <field name="UnitText">centimeters per square second</field>
+        <field name="Range">100 981</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Loiter braking acceleration" name="LOIT_BRK_ACCEL" documentation="Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered." user="Advanced">
+        <field name="Units">cm/s/s</field>
+        <field name="UnitText">centimeters per square second</field>
+        <field name="Range">25 250</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Loiter braking jerk" name="LOIT_BRK_JERK" documentation="Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver." user="Advanced">
+        <field name="Units">cm/s/s/s</field>
+        <field name="UnitText">centimeters per cubic second</field>
+        <field name="Range">500 5000</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Loiter brake start delay (in seconds)" name="LOIT_BRK_DELAY" documentation="Loiter brake start delay (in seconds)" user="Advanced">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">0 2</field>
+        <field name="Increment">0.1</field>
+      </param>
+    </parameters>
+    <parameters name="MIS_">
+      <param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
+        <field name="Range">0 32766</field>
+        <field name="Increment">1</field>
+        <field name="ReadOnly">True</field>
+      </param>
+      <param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
+        <values>
+          <value code="0">Resume Mission</value>
+          <value code="1">Restart Mission</value>
+        </values>
+      </param>
+      <param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
+        <field name="Bitmask">0:Clear Mission on reboot</field>
+      </param>
+    </parameters>
+    <parameters name="MNT">
+      <param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Servo</value>
+          <value code="2">3DR Solo</value>
+          <value code="3">Alexmos Serial</value>
+          <value code="4">SToRM32 MAVLink</value>
+          <value code="5">SToRM32 Serial</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
+        <values>
+          <value code="0">Retracted</value>
+          <value code="1">Neutral</value>
+          <value code="2">MavLink Targeting</value>
+          <value code="3">RC Targeting</value>
+          <value code="4">GPS Point</value>
+        </values>
+      </param>
+      <param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="5">RC5</value>
+          <value code="6">RC6</value>
+          <value code="7">RC7</value>
+          <value code="8">RC8</value>
+          <value code="9">RC9</value>
+          <value code="10">RC10</value>
+          <value code="11">RC11</value>
+          <value code="12">RC12</value>
+        </values>
+      </param>
+      <param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="5">RC5</value>
+          <value code="6">RC6</value>
+          <value code="7">RC7</value>
+          <value code="8">RC8</value>
+          <value code="9">RC9</value>
+          <value code="10">RC10</value>
+          <value code="11">RC11</value>
+          <value code="12">RC12</value>
+        </values>
+      </param>
+      <param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="5">RC5</value>
+          <value code="6">RC6</value>
+          <value code="7">RC7</value>
+          <value code="8">RC8</value>
+          <value code="9">RC9</value>
+          <value code="10">RC10</value>
+          <value code="11">RC11</value>
+          <value code="12">RC12</value>
+        </values>
+      </param>
+      <param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="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." user="Standard">
+        <field name="Range">0 100</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="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." user="Standard">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">0.0 0.2</field>
+        <field name="Increment">.005</field>
+      </param>
+      <param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="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." user="Standard">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">0.0 0.2</field>
+        <field name="Increment">.005</field>
+      </param>
+      <param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
+        <values>
+          <value code="0">Retracted</value>
+          <value code="1">Neutral</value>
+          <value code="2">MavLink Targeting</value>
+          <value code="3">RC Targeting</value>
+          <value code="4">GPS Point</value>
+        </values>
+      </param>
+      <param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180.00 179.99</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="5">RC5</value>
+          <value code="6">RC6</value>
+          <value code="7">RC7</value>
+          <value code="8">RC8</value>
+          <value code="9">RC9</value>
+          <value code="10">RC10</value>
+          <value code="11">RC11</value>
+          <value code="12">RC12</value>
+        </values>
+      </param>
+      <param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="5">RC5</value>
+          <value code="6">RC6</value>
+          <value code="7">RC7</value>
+          <value code="8">RC8</value>
+          <value code="9">RC9</value>
+          <value code="10">RC10</value>
+          <value code="11">RC11</value>
+          <value code="12">RC12</value>
+        </values>
+      </param>
+      <param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="5">RC5</value>
+          <value code="6">RC6</value>
+          <value code="7">RC7</value>
+          <value code="8">RC8</value>
+          <value code="9">RC9</value>
+          <value code="10">RC10</value>
+          <value code="11">RC11</value>
+          <value code="12">RC12</value>
+        </values>
+      </param>
+      <param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
+        <field name="Units">cdeg</field>
+        <field name="UnitText">centidegrees</field>
+        <field name="Range">-18000 17999</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="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." user="Standard">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">0.0 0.2</field>
+        <field name="Increment">.005</field>
+      </param>
+      <param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="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." user="Standard">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">0.0 0.2</field>
+        <field name="Increment">.005</field>
+      </param>
+      <param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Servo</value>
+          <value code="2">3DR Solo</value>
+          <value code="3">Alexmos Serial</value>
+          <value code="4">SToRM32 MAVLink</value>
+          <value code="5">SToRM32 Serial</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="MOT_">
+      <param humanName="Motor normal or reverse" name="MOT_1_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_2_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_3_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_4_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_5_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_6_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_7_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_8_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Forward/vertical to pitch decoupling factor" name="MOT_FV_CPLNG_K" documentation="Used to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal" user="Standard">
+        <field name="Range">0.0 1.5</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_9_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_10_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_11_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Motor normal or reverse" name="MOT_12_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+        <values>
+          <value code="1">normal</value>
+          <value code="-1">reverse</value>
+        </values>
+      </param>
+      <param humanName="Matrix Yaw Min" name="MOT_YAW_HEADROOM" documentation="Yaw control is given at least this pwm in microseconds range" user="Advanced">
+        <field name="Range">0 500</field>
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+      </param>
+      <param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)" user="Advanced">
+        <field name="Range">-1.0 1.0</field>
+      </param>
+      <param humanName="Motor Spin maximum" name="MOT_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
+        <field name="Values">0.9:Low,0.95:Default,1.0:High</field>
+      </param>
+      <param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.2 * cell count, 0 = Disabled" user="Advanced">
+        <field name="Range">6 53</field>
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.3 * cell count, 0 = Disabled" user="Advanced">
+        <field name="Range">6 42</field>
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+      </param>
+      <param humanName="Motor Current Max" name="MOT_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
+        <field name="Range">0 200</field>
+        <field name="Units">A</field>
+        <field name="UnitText">ampere</field>
+      </param>
+      <param humanName="Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output" user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">OneShot</value>
+          <value code="2">OneShot125</value>
+          <value code="3">Brushed</value>
+          <value code="4">DShot150</value>
+          <value code="5">DShot300</value>
+          <value code="6">DShot600</value>
+          <value code="7">DShot1200</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="PWM output minimum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value in microseconds that will ever be output to the motors" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 2000</field>
+      </param>
+      <param humanName="PWM output maximum" name="MOT_PWM_MAX" documentation="This sets the max PWM value in microseconds that will ever be output to the motors" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 2000</field>
+      </param>
+      <param humanName="Motor Spin minimum" name="MOT_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM." user="Advanced">
+        <field name="Values">0.0:Low,0.15:Default,0.3:High</field>
+      </param>
+      <param humanName="Motor Spin armed" name="MOT_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN." user="Advanced">
+        <field name="Values">0.0:Low,0.1:Default,0.2:High</field>
+      </param>
+      <param humanName="Motor Current Max Time Constant" name="MOT_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
+        <field name="Range">0 10</field>
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+      </param>
+      <param humanName="Thrust Hover Value" name="MOT_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
+        <field name="Range">0.2 0.8</field>
+      </param>
+      <param humanName="Hover Value Learning" name="MOT_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+        </values>
+      </param>
+      <param humanName="Motor PWM output disabled when disarmed" name="MOT_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
+        <values>
+          <value code="0">PWM enabled while disarmed</value>
+          <value code="1">PWM disabled while disarmed</value>
+        </values>
+      </param>
+      <param humanName="Yaw Servo Max Lean Angle" name="MOT_YAW_SV_ANGLE" documentation="Yaw servo's maximum lean angle" user="Standard">
+        <field name="Range">5 80</field>
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Spool up time" name="MOT_SPOOL_TIME" documentation="Time in seconds to spool up the motors from zero to min throttle. " user="Advanced">
+        <field name="Range">0 2</field>
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Motor boost scale" name="MOT_BOOST_SCALE" documentation="Booster motor output scaling factor vs main throttle.  The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle." user="Advanced">
+        <field name="Range">0 5</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Battery compensation index" name="MOT_BAT_IDX" documentation="Which battery monitor should be used for doing compensation" user="Advanced">
+        <values>
+          <value code="0">First battery</value>
+          <value code="1">Second battery</value>
+        </values>
+      </param>
+      <param humanName="Output slew time for increasing throttle" name="MOT_SLEW_UP_TIME" documentation="Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5." user="Advanced">
+        <field name="Range">0 .5</field>
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Output slew time for decreasing throttle" name="MOT_SLEW_DN_TIME" documentation="Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change.  Range is constrained between 0 and 0.5." user="Advanced">
+        <field name="Range">0 .5</field>
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Time taken to disable and enable the motor PWM output when disarmed and armed." name="MOT_SAFE_TIME" documentation="Time taken to disable and enable the motor PWM output when disarmed and armed." user="Advanced">
+        <field name="Range">0 5</field>
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Increment">0.001</field>
+      </param>
+    </parameters>
+    <parameters name="MSP">
+      <param humanName="Cell count override" name="MSP_OSD_NCELLS" documentation="Used for average cell voltage calculation" user="Standard">
+        <values>
+          <value code="0">Auto</value>
+          <value code="1">1</value>
+          <value code="2">2</value>
+          <value code="3">3</value>
+          <value code="4">4</value>
+          <value code="5">5</value>
+          <value code="6">6</value>
+          <value code="7">7</value>
+          <value code="8">8</value>
+          <value code="9">9</value>
+          <value code="10">10</value>
+          <value code="11">11</value>
+          <value code="12">12</value>
+          <value code="13">13</value>
+          <value code="14">14</value>
+        </values>
+      </param>
+      <param humanName="MSP OSD Options" name="MSP_OPTIONS" documentation="A bitmask to set some MSP specific options" user="Standard">
+        <field name="Bitmask">0:EnableTelemetryMode</field>
+      </param>
+    </parameters>
+    <parameters name="NTF_">
+      <param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
+        <values>
+          <value code="0">Off</value>
+          <value code="1">Low</value>
+          <value code="2">Medium</value>
+          <value code="3">High</value>
+        </values>
+      </param>
+      <param humanName="Buzzer Driver Types" name="NTF_BUZZ_TYPES" documentation="Controls what types of Buzzer will be enabled" user="Advanced">
+        <field name="Bitmask">0:Built-in buzzer, 1:DShot, 2:UAVCAN</field>
+      </param>
+      <param humanName="Specifies colour source for the RGBLed" name="NTF_LED_OVERRIDE" documentation="Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially &quot;Green&quot; is disarmed (safe-to-approach), &quot;Red&quot; is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks." user="Advanced">
+        <values>
+          <value code="0">Standard</value>
+          <value code="1">MAVLink/Scripting/AP_Periph</value>
+          <value code="2">OutbackChallenge</value>
+          <value code="3">TrafficLight</value>
+        </values>
+      </param>
+      <param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
+        <values>
+          <value code="0">Disable</value>
+          <value code="1">ssd1306</value>
+          <value code="2">sh1106</value>
+          <value code="10">SITL</value>
+        </values>
+      </param>
+      <param humanName="OreoLED Theme" name="NTF_OREO_THEME" documentation="Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Aircraft</value>
+          <value code="2">Rover</value>
+        </values>
+      </param>
+      <param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+        </values>
+      </param>
+      <param humanName="LED Driver Types" name="NTF_LED_TYPES" documentation="Controls what types of LEDs will be enabled" user="Advanced">
+        <field name="Bitmask">0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot</field>
+      </param>
+      <param humanName="Buzzer-on pin logic level" name="NTF_BUZZ_ON_LVL" documentation="Specifies pin level that indicates buzzer should play" user="Advanced">
+        <values>
+          <value code="0">LowIsOn</value>
+          <value code="1">HighIsOn</value>
+        </values>
+      </param>
+      <param humanName="Buzzer volume" name="NTF_BUZZ_VOLUME" documentation="Control the volume of the buzzer">
+        <field name="Range">0 100</field>
+        <field name="Units">%</field>
+        <field name="UnitText">percent</field>
+      </param>
+      <param humanName="Serial LED String Length" name="NTF_LED_LEN" documentation="The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)" user="Advanced">
+        <field name="Range">1 32</field>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="PRX">
+      <param humanName="Proximity type" name="PRX_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="7">LightwareSF40c</value>
+          <value code="1">LightWareSF40C-legacy</value>
+          <value code="2">MAVLink</value>
+          <value code="3">TeraRangerTower</value>
+          <value code="4">RangeFinder</value>
+          <value code="5">RPLidarA2</value>
+          <value code="6">TeraRangerTowerEvo</value>
+          <value code="8">LightwareSF45B</value>
+          <value code="10">SITL</value>
+          <value code="12">AirSimSITL</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Proximity sensor orientation" name="PRX_ORIENT" documentation="Proximity sensor orientation" user="Standard">
+        <values>
+          <value code="0">Default</value>
+          <value code="1">Upside Down</value>
+        </values>
+      </param>
+      <param humanName="Proximity sensor yaw correction" name="PRX_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">-180 180</field>
+      </param>
+      <param humanName="Proximity sensor ignore angle 1" name="PRX_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 360</field>
+      </param>
+      <param humanName="Proximity sensor ignore width 1" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 127</field>
+      </param>
+      <param humanName="Proximity sensor ignore angle 2" name="PRX_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 360</field>
+      </param>
+      <param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 127</field>
+      </param>
+      <param humanName="Proximity sensor ignore angle 3" name="PRX_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 360</field>
+      </param>
+      <param humanName="Proximity sensor ignore width 3" name="PRX_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 127</field>
+      </param>
+      <param humanName="Proximity sensor ignore angle 4" name="PRX_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 360</field>
+      </param>
+      <param humanName="Proximity sensor ignore width 4" name="PRX_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 127</field>
+      </param>
+      <param humanName="Proximity sensor ignore angle 5" name="PRX_IGN_ANG5" documentation="Proximity sensor ignore angle 5" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 360</field>
+      </param>
+      <param humanName="Proximity sensor ignore width 5" name="PRX_IGN_WID5" documentation="Proximity sensor ignore width 5" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 127</field>
+      </param>
+      <param humanName="Proximity sensor ignore angle 6" name="PRX_IGN_ANG6" documentation="Proximity sensor ignore angle 6" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 360</field>
+      </param>
+      <param humanName="Proximity sensor ignore width 6" name="PRX_IGN_WID6" documentation="Proximity sensor ignore width 6" user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 127</field>
+      </param>
+      <param humanName="Proximity raw distances log" name="PRX_LOG_RAW" documentation="Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled" user="Advanced">
+        <values>
+          <value code="0">Off</value>
+          <value code="1">On</value>
+        </values>
+      </param>
+      <param humanName="Proximity filter cutoff frequency" name="PRX_FILT" documentation="Cutoff frequency for low pass filter applied to each face in the proximity boundary" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 20</field>
+      </param>
+    </parameters>
+    <parameters name="PSC">
+      <param humanName="XY Acceleration filter cutoff frequency" name="PSC_ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0.5 5</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Position (vertical) controller P gain" name="PSC_POSZ_P" documentation="Position (vertical) 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" user="Standard">
+        <field name="Range">1.000 3.000</field>
+      </param>
+      <param humanName="Velocity (vertical) controller P gain" name="PSC_VELZ_P" documentation="Velocity (vertical) 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" user="Standard">
+        <field name="Range">1.000 8.000</field>
+      </param>
+      <param humanName="Velocity (vertical) controller I gain" name="PSC_VELZ_I" documentation="Velocity (vertical) controller I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
+        <field name="Range">0.02 1.00</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Velocity (vertical) controller I gain maximum" name="PSC_VELZ_IMAX" documentation="Velocity (vertical) controller I gain maximum.  Constrains the target acceleration that the I gain will output" user="Standard">
+        <field name="Range">1.000 8.000</field>
+      </param>
+      <param humanName="Velocity (vertical) controller D gain" name="PSC_VELZ_D" documentation="Velocity (vertical) controller D gain.  Corrects short-term changes in velocity" user="Advanced">
+        <field name="Range">0.00 1.00</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Velocity (vertical) controller Feed Forward gain" name="PSC_VELZ_FF" documentation="Velocity (vertical) controller Feed Forward gain.  Produces an output that is proportional to the magnitude of the target" user="Advanced">
+        <field name="Range">0 1</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Velocity (vertical) error filter" name="PSC_VELZ_FLTE" documentation="Velocity (vertical) error filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
+        <field name="Range">0 100</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Velocity (vertical) input filter for D term" name="PSC_VELZ_FLTD" documentation="Velocity (vertical) input filter for D term.  This filter (in Hz) is applied to the input for D terms" user="Advanced">
+        <field name="Range">0 100</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Acceleration (vertical) controller P gain" name="PSC_ACCZ_P" documentation="Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
+        <field name="Range">0.200 1.500</field>
+        <field name="Increment">0.05</field>
+      </param>
+      <param humanName="Acceleration (vertical) controller I gain" name="PSC_ACCZ_I" documentation="Acceleration (vertical) controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
+        <field name="Range">0.000 3.000</field>
+      </param>
+      <param humanName="Acceleration (vertical) controller I gain maximum" name="PSC_ACCZ_IMAX" documentation="Acceleration (vertical) controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
+        <field name="Range">0 1000</field>
+        <field name="Units">d%</field>
+        <field name="UnitText">decipercent</field>
+      </param>
+      <param humanName="Acceleration (vertical) controller D gain" name="PSC_ACCZ_D" documentation="Acceleration (vertical) controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
+        <field name="Range">0.000 0.400</field>
+      </param>
+      <param humanName="Acceleration (vertical) controller feed forward" name="PSC_ACCZ_FF" documentation="Acceleration (vertical) controller feed forward" user="Standard">
+        <field name="Range">0 0.5</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Acceleration (vertical) controller target frequency in Hz" name="PSC_ACCZ_FLTT" documentation="Acceleration (vertical) controller target frequency in Hz" user="Standard">
+        <field name="Range">1 50</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Acceleration (vertical) controller error frequency in Hz" name="PSC_ACCZ_FLTE" documentation="Acceleration (vertical) controller error frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Acceleration (vertical) controller derivative frequency in Hz" name="PSC_ACCZ_FLTD" documentation="Acceleration (vertical) controller derivative frequency in Hz" user="Standard">
+        <field name="Range">1 100</field>
+        <field name="Increment">1</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Accel (vertical) slew rate limit" name="PSC_ACCZ_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
+        <field name="Range">0 200</field>
+        <field name="Increment">0.5</field>
+      </param>
+      <param humanName="Position (horizontal) controller P gain" name="PSC_POSXY_P" documentation="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" user="Standard">
+        <field name="Range">0.500 2.000</field>
+      </param>
+      <param humanName="Velocity (horizontal) P gain" name="PSC_VELXY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired and actual velocity to a target acceleration" user="Advanced">
+        <field name="Range">0.1 6.0</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Velocity (horizontal) I gain" name="PSC_VELXY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference between desired and actual velocity to a target acceleration" user="Advanced">
+        <field name="Range">0.02 1.00</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Velocity (horizontal) D gain" name="PSC_VELXY_D" documentation="Velocity (horizontal) D gain.  Corrects short-term changes in velocity" user="Advanced">
+        <field name="Range">0.00 1.00</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Velocity (horizontal) integrator maximum" name="PSC_VELXY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
+        <field name="Range">0 4500</field>
+        <field name="Increment">10</field>
+        <field name="Units">cm/s/s</field>
+        <field name="UnitText">centimeters per square second</field>
+      </param>
+      <param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FLTE" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
+        <field name="Range">0 100</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FLTD" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term" user="Advanced">
+        <field name="Range">0 100</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Velocity (horizontal) feed forward gain" name="PSC_VELXY_FF" documentation="Velocity (horizontal) feed forward gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
+        <field name="Range">0 6</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Position Control Angle Max" name="PSC_ANGLE_MAX" documentation="Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value" user="Advanced">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+        <field name="Range">0 45</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Jerk limit for the horizontal kinematic input shaping" name="PSC_JERK_XY" documentation="Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
+        <field name="Range">1 20</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Jerk limit for the vertical kinematic input shaping" name="PSC_JERK_Z" documentation="Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
+        <field name="Range">5 50</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="RALLY_">
+      <param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
+</param>
+      <param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="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." user="Advanced">
+        <field name="Units">km</field>
+        <field name="UnitText">kilometers</field>
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
+        <values>
+          <value code="0">DoNotIncludeHome</value>
+          <value code="1">IncludeHome</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RC">
+      <param humanName="RC override timeout" name="RC_OVERRIDE_TIME" documentation="Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled" user="Advanced">
+        <field name="Range">0.0 120.0</field>
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+      </param>
+      <param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
+        <field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection</field>
+      </param>
+      <param humanName="RC protocols enabled" name="RC_PROTOCOLS" documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols." user="Advanced">
+        <field name="Bitmask">0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2</field>
+      </param>
+    </parameters>
+    <parameters name="RC10_">
+      <param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC10_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC10_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC11_">
+      <param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC11_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC11_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC12_">
+      <param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC12_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC12_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC13_">
+      <param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC13_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC13_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC14_">
+      <param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC14_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC14_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC15_">
+      <param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC15_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC15_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC16_">
+      <param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC16_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC16_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC1_">
+      <param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC1_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC1_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC2_">
+      <param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC2_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC2_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC3_">
+      <param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC3_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC3_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC4_">
+      <param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC4_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC4_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC5_">
+      <param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC5_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC5_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC6_">
+      <param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC6_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC6_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC7_">
+      <param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC7_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC7_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC8_">
+      <param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC8_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC8_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RC9_">
+      <param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC reversed" name="RC9_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="RC dead-zone" name="RC9_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">0 200</field>
+      </param>
+    </parameters>
+    <parameters name="RCMAP_">
+      <param humanName="Roll channel" name="RCMAP_ROLL" documentation="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.  Reboot is required for changes to take effect." user="Advanced">
+        <field name="Range">1 8</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Pitch channel" name="RCMAP_PITCH" documentation="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.  Reboot is required for changes to take effect." user="Advanced">
+        <field name="Range">1 8</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="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.  Reboot is required for changes to take effect." user="Advanced">
+        <field name="Range">1 8</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Yaw channel" name="RCMAP_YAW" documentation="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.  Reboot is required for changes to take effect." user="Advanced">
+        <field name="Range">1 8</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Forward channel" name="RCMAP_FORWARD" documentation="Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
+        <field name="Range">1 8</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Lateral channel" name="RCMAP_LATERAL" documentation="Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
+        <field name="Range">1 8</field>
+        <field name="Increment">1</field>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="RELAY_">
+      <param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="49">BB Blue GP0 pin 4</value>
+          <value code="50">AUXOUT1</value>
+          <value code="51">AUXOUT2</value>
+          <value code="52">AUXOUT3</value>
+          <value code="53">AUXOUT4</value>
+          <value code="54">AUXOUT5</value>
+          <value code="55">AUXOUT6</value>
+          <value code="57">BB Blue GP0 pin 3</value>
+          <value code="113">BB Blue GP0 pin 6</value>
+          <value code="116">BB Blue GP0 pin 5</value>
+          <value code="27">BBBMini Pin P8.17</value>
+        </values>
+      </param>
+      <param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="49">BB Blue GP0 pin 4</value>
+          <value code="50">AUXOUT1</value>
+          <value code="51">AUXOUT2</value>
+          <value code="52">AUXOUT3</value>
+          <value code="53">AUXOUT4</value>
+          <value code="54">AUXOUT5</value>
+          <value code="55">AUXOUT6</value>
+          <value code="57">BB Blue GP0 pin 3</value>
+          <value code="113">BB Blue GP0 pin 6</value>
+          <value code="116">BB Blue GP0 pin 5</value>
+          <value code="65">BBBMini Pin P8.18</value>
+        </values>
+      </param>
+      <param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="49">BB Blue GP0 pin 4</value>
+          <value code="50">AUXOUT1</value>
+          <value code="51">AUXOUT2</value>
+          <value code="52">AUXOUT3</value>
+          <value code="53">AUXOUT4</value>
+          <value code="54">AUXOUT5</value>
+          <value code="55">AUXOUT6</value>
+          <value code="57">BB Blue GP0 pin 3</value>
+          <value code="113">BB Blue GP0 pin 6</value>
+          <value code="116">BB Blue GP0 pin 5</value>
+          <value code="22">BBBMini Pin P8.19</value>
+        </values>
+      </param>
+      <param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="49">BB Blue GP0 pin 4</value>
+          <value code="50">AUXOUT1</value>
+          <value code="51">AUXOUT2</value>
+          <value code="52">AUXOUT3</value>
+          <value code="53">AUXOUT4</value>
+          <value code="54">AUXOUT5</value>
+          <value code="55">AUXOUT6</value>
+          <value code="57">BB Blue GP0 pin 3</value>
+          <value code="113">BB Blue GP0 pin 6</value>
+          <value code="116">BB Blue GP0 pin 5</value>
+          <value code="63">BBBMini Pin P8.34</value>
+        </values>
+      </param>
+      <param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot." user="Standard">
+        <values>
+          <value code="0">Off</value>
+          <value code="1">On</value>
+          <value code="2">NoChange</value>
+        </values>
+      </param>
+      <param humanName="Fifth Relay Pin" name="RELAY_PIN5" documentation="Digital pin number for 5th relay control." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="49">BB Blue GP0 pin 4</value>
+          <value code="50">AUXOUT1</value>
+          <value code="51">AUXOUT2</value>
+          <value code="52">AUXOUT3</value>
+          <value code="53">AUXOUT4</value>
+          <value code="54">AUXOUT5</value>
+          <value code="55">AUXOUT6</value>
+          <value code="57">BB Blue GP0 pin 3</value>
+          <value code="113">BB Blue GP0 pin 6</value>
+          <value code="116">BB Blue GP0 pin 5</value>
+          <value code="62">BBBMini Pin P8.13</value>
+        </values>
+      </param>
+      <param humanName="Sixth Relay Pin" name="RELAY_PIN6" documentation="Digital pin number for 6th relay control." user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="49">BB Blue GP0 pin 4</value>
+          <value code="50">AUXOUT1</value>
+          <value code="51">AUXOUT2</value>
+          <value code="52">AUXOUT3</value>
+          <value code="53">AUXOUT4</value>
+          <value code="54">AUXOUT5</value>
+          <value code="55">AUXOUT6</value>
+          <value code="57">BB Blue GP0 pin 3</value>
+          <value code="113">BB Blue GP0 pin 6</value>
+          <value code="116">BB Blue GP0 pin 5</value>
+          <value code="37">BBBMini Pin P8.14</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFND1_">
+      <param humanName="Rangefinder type" name="RNGFND1_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFND1_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFND1_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFND1_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFND1_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFND1_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFND1_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFND1_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFND1_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFND1_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND1_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFND1_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFND1_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFND1_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFND1_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFND1_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFND1_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFND1_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFND1_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFND1_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFND1_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFND1_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFND2_">
+      <param humanName="Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFND2_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFND2_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFND2_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFND2_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFND2_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFND2_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFND2_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFND2_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFND2_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFND3_">
+      <param humanName="Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFND3_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFND3_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFND3_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFND3_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFND3_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFND3_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFND3_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFND3_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFND3_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFND4_">
+      <param humanName="Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFND4_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFND4_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFND4_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFND4_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFND4_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFND4_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFND4_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFND4_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFND4_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFND5_">
+      <param humanName="Rangefinder type" name="RNGFND5_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFND5_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFND5_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFND5_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFND5_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFND5_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFND5_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFND5_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFND5_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFND5_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND5_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFND5_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFND5_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFND5_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFND5_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFND5_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFND5_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFND5_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFND5_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFND5_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFND5_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFND5_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFND6_">
+      <param humanName="Rangefinder type" name="RNGFND6_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFND6_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFND6_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFND6_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFND6_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFND6_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFND6_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFND6_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFND6_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFND6_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND6_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFND6_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFND6_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFND6_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFND6_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFND6_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFND6_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFND6_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFND6_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFND6_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFND6_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFND6_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFND7_">
+      <param humanName="Rangefinder type" name="RNGFND7_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFND7_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFND7_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFND7_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFND7_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFND7_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFND7_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFND7_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFND7_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFND7_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND7_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFND7_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFND7_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFND7_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFND7_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFND7_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFND7_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFND7_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFND7_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFND7_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFND7_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFND7_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFND8_">
+      <param humanName="Rangefinder type" name="RNGFND8_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFND8_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFND8_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFND8_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFND8_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFND8_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFND8_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFND8_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFND8_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFND8_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND8_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFND8_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFND8_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFND8_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFND8_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFND8_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFND8_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFND8_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFND8_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFND8_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFND8_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFND8_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFND9_">
+      <param humanName="Rangefinder type" name="RNGFND9_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFND9_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFND9_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFND9_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFND9_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFND9_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFND9_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFND9_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFND9_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFND9_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND9_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFND9_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFND9_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFND9_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFND9_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFND9_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFND9_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFND9_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFND9_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFND9_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFND9_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFND9_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RNGFNDA_">
+      <param humanName="Rangefinder type" name="RNGFNDA_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Analog</value>
+          <value code="2">MaxbotixI2C</value>
+          <value code="3">LidarLite-I2C</value>
+          <value code="5">PWM</value>
+          <value code="6">BBB-PRU</value>
+          <value code="7">LightWareI2C</value>
+          <value code="8">LightWareSerial</value>
+          <value code="9">Bebop</value>
+          <value code="10">MAVLink</value>
+          <value code="11">uLanding</value>
+          <value code="12">LeddarOne</value>
+          <value code="13">MaxbotixSerial</value>
+          <value code="14">TeraRangerI2C</value>
+          <value code="15">LidarLiteV3-I2C</value>
+          <value code="16">VL53L0X or VL53L1X</value>
+          <value code="17">NMEA</value>
+          <value code="18">WASP-LRF</value>
+          <value code="19">BenewakeTF02</value>
+          <value code="20">Benewake-Serial</value>
+          <value code="21">LidarLightV3HP</value>
+          <value code="22">PWM</value>
+          <value code="23">BlueRoboticsPing</value>
+          <value code="24">UAVCAN</value>
+          <value code="25">BenewakeTFminiPlus-I2C</value>
+          <value code="26">LanbaoPSK-CM8JL65-CC5</value>
+          <value code="27">BenewakeTF03</value>
+          <value code="28">VL53L1X-ShortRange</value>
+          <value code="29">LeddarVu8-Serial</value>
+          <value code="30">HC-SR04</value>
+          <value code="31">GYUS42v2</value>
+          <value code="32">MSP</value>
+          <value code="33">USD1_CAN</value>
+          <value code="100">SITL</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder pin" name="RNGFNDA_PIN" documentation="Analog or PWM input pin that rangefinder is connected to.  Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input" user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="11">PX4-airspeed port</value>
+          <value code="15">Pixhawk-airspeed port</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder scaling" name="RNGFNDA_SCALING" documentation="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." user="Standard">
+        <field name="Units">m/V</field>
+        <field name="UnitText">meters per volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="rangefinder offset" name="RNGFNDA_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
+        <field name="Units">V</field>
+        <field name="UnitText">volt</field>
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Rangefinder function" name="RNGFNDA_FUNCTION" documentation="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." user="Standard">
+        <values>
+          <value code="0">Linear</value>
+          <value code="1">Inverted</value>
+          <value code="2">Hyperbolic</value>
+        </values>
+      </param>
+      <param humanName="Rangefinder minimum distance" name="RNGFNDA_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder maximum distance" name="RNGFNDA_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Rangefinder stop pin" name="RNGFNDA_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range." user="Standard">
+        <values>
+          <value code="-1">Not Used</value>
+          <value code="50">Pixhawk AUXOUT1</value>
+          <value code="51">Pixhawk AUXOUT2</value>
+          <value code="52">Pixhawk AUXOUT3</value>
+          <value code="53">Pixhawk AUXOUT4</value>
+          <value code="54">Pixhawk AUXOUT5</value>
+          <value code="55">Pixhawk AUXOUT6</value>
+          <value code="111">PX4 FMU Relay1</value>
+          <value code="112">PX4 FMU Relay2</value>
+          <value code="113">PX4IO Relay1</value>
+          <value code="114">PX4IO Relay2</value>
+          <value code="115">PX4IO ACC1</value>
+          <value code="116">PX4IO ACC2</value>
+        </values>
+      </param>
+      <param humanName="Ratiometric" name="RNGFNDA_RMETRIC" documentation="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." user="Standard">
+        <values>
+          <value code="0">No</value>
+          <value code="1">Yes</value>
+        </values>
+      </param>
+      <param humanName="Powersave range" name="RNGFNDA_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0 32767</field>
+      </param>
+      <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFNDA_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Bus address of sensor" name="RNGFNDA_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
+        <field name="Range">0 127</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName=" X position offset" name="RNGFNDA_POS_X" documentation="X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Y position offset" name="RNGFNDA_POS_Y" documentation="Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Z position offset" name="RNGFNDA_POS_Z" documentation="Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Rangefinder orientation" name="RNGFNDA_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="1">Forward-Right</value>
+          <value code="2">Right</value>
+          <value code="3">Back-Right</value>
+          <value code="4">Back</value>
+          <value code="5">Back-Left</value>
+          <value code="6">Left</value>
+          <value code="7">Forward-Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Moving Average Range" name="RNGFNDA_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Moving Median Filter" name="RNGFNDA_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Frequency" name="RNGFNDA_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Multi-pulse averages" name="RNGFNDA_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Sensitivity threshold" name="RNGFNDA_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+        <field name="Range">-1 255</field>
+      </param>
+      <param humanName="Baud rate" name="RNGFNDA_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+        <values>
+          <value code="0">Low Speed</value>
+          <value code="1">High Speed</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="RPM">
+      <param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
+        <values>
+          <value code="0">None</value>
+          <value code="1">PWM</value>
+          <value code="2">AUXPIN</value>
+          <value code="3">EFI</value>
+          <value code="4">Harmonic Notch</value>
+        </values>
+      </param>
+      <param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report" user="Standard">
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report" user="Standard">
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
+        <field name="Increment">0.1</field>
+      </param>
+      <param humanName="Input pin number" name="RPM_PIN" documentation="Which pin to use" user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="50">PixhawkAUX1</value>
+          <value code="51">PixhawkAUX2</value>
+          <value code="52">PixhawkAUX3</value>
+          <value code="53">PixhawkAUX4</value>
+          <value code="54">PixhawkAUX5</value>
+          <value code="55">PixhawkAUX6</value>
+        </values>
+      </param>
+      <param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">PWM</value>
+          <value code="2">AUXPIN</value>
+          <value code="3">EFI</value>
+          <value code="4">Harmonic Notch</value>
+        </values>
+      </param>
+      <param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Advanced">
+        <field name="Increment">0.001</field>
+      </param>
+      <param humanName="RPM2 input pin number" name="RPM2_PIN" documentation="Which pin to use" user="Standard">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="50">PixhawkAUX1</value>
+          <value code="51">PixhawkAUX2</value>
+          <value code="52">PixhawkAUX3</value>
+          <value code="53">PixhawkAUX4</value>
+          <value code="54">PixhawkAUX5</value>
+          <value code="55">PixhawkAUX6</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SCHED_">
+      <param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation="Set to non-zero to enable scheduler debug messages. When set to show &quot;Slips&quot; 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." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="2">ShowSlips</value>
+          <value code="3">ShowOverruns</value>
+        </values>
+      </param>
+      <param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental." user="Advanced">
+        <values>
+          <value code="50">50Hz</value>
+          <value code="100">100Hz</value>
+          <value code="200">200Hz</value>
+          <value code="250">250Hz</value>
+          <value code="300">300Hz</value>
+          <value code="400">400Hz</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Scheduling options" name="SCHED_OPTIONS" documentation="This controls optional aspects of the scheduler." user="Advanced">
+        <field name="Bitmask">0:Enable per-task perf info</field>
+      </param>
+    </parameters>
+    <parameters name="SCR_">
+      <param humanName="Enable Scripting" name="SCR_ENABLE" documentation="Controls if scripting is enabled" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">Lua Scripts</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Scripting Virtual Machine Instruction Count" name="SCR_VM_I_COUNT" documentation="The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time" user="Advanced">
+        <field name="Range">1000 1000000</field>
+        <field name="Increment">10000</field>
+      </param>
+      <param humanName="Scripting Heap Size" name="SCR_HEAP_SIZE" documentation="Amount of memory available for scripting" user="Advanced">
+        <field name="Range">1024 1048576</field>
+        <field name="Increment">1024</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Scripting Debug Level" name="SCR_DEBUG_LVL" documentation="The higher the number the more verbose builtin scripting debug will be." user="Advanced">
+</param>
+      <param humanName="Scripting User Parameter1" name="SCR_USER1" documentation="General purpose user variable input for scripts" user="Standard">
+</param>
+      <param humanName="Scripting User Parameter2" name="SCR_USER2" documentation="General purpose user variable input for scripts" user="Standard">
+</param>
+      <param humanName="Scripting User Parameter3" name="SCR_USER3" documentation="General purpose user variable input for scripts" user="Standard">
+</param>
+      <param humanName="Scripting User Parameter4" name="SCR_USER4" documentation="General purpose user variable input for scripts" user="Standard">
+</param>
+      <param humanName="Directory disable" name="SCR_DIR_DISABLE" documentation="This will stop scripts being loaded from the given locations" user="Advanced">
+        <field name="Bitmask">0:ROMFS, 1:APM/scripts</field>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="SERIAL">
+      <param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+        <values>
+          <value code="1">1200</value>
+          <value code="2">2400</value>
+          <value code="4">4800</value>
+          <value code="9">9600</value>
+          <value code="19">19200</value>
+          <value code="38">38400</value>
+          <value code="57">57600</value>
+          <value code="111">111100</value>
+          <value code="115">115200</value>
+          <value code="230">230400</value>
+          <value code="256">256000</value>
+          <value code="460">460800</value>
+          <value code="500">500000</value>
+          <value code="921">921600</value>
+          <value code="1500">1500000</value>
+        </values>
+      </param>
+      <param humanName="Console protocol selection" name="SERIAL0_PROTOCOL" documentation="Control what protocol to use on the console. " user="Standard">
+        <values>
+          <value code="1">MAVlink1</value>
+          <value code="2">MAVLink2</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+        <values>
+          <value code="-1">None</value>
+          <value code="1">MAVLink1</value>
+          <value code="2">MAVLink2</value>
+          <value code="3">Frsky D</value>
+          <value code="4">Frsky SPort</value>
+          <value code="5">GPS</value>
+          <value code="7">Alexmos Gimbal Serial</value>
+          <value code="8">SToRM32 Gimbal Serial</value>
+          <value code="9">Rangefinder</value>
+          <value code="10">FrSky SPort Passthrough (OpenTX)</value>
+          <value code="11">Lidar360</value>
+          <value code="13">Beacon</value>
+          <value code="14">Volz servo out</value>
+          <value code="15">SBus servo out</value>
+          <value code="16">ESC Telemetry</value>
+          <value code="17">Devo Telemetry</value>
+          <value code="18">OpticalFlow</value>
+          <value code="19">RobotisServo</value>
+          <value code="20">NMEA Output</value>
+          <value code="21">WindVane</value>
+          <value code="22">SLCAN</value>
+          <value code="23">RCIN</value>
+          <value code="24">MegaSquirt EFI</value>
+          <value code="25">LTM</value>
+          <value code="26">RunCam</value>
+          <value code="27">HottTelem</value>
+          <value code="28">Scripting</value>
+          <value code="29">Crossfire</value>
+          <value code="30">Generator</value>
+          <value code="31">Winch</value>
+          <value code="32">MSP</value>
+          <value code="33">DJI FPV</value>
+          <value code="34">AirSpeed</value>
+          <value code="35">ADSB</value>
+          <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+        <values>
+          <value code="1">1200</value>
+          <value code="2">2400</value>
+          <value code="4">4800</value>
+          <value code="9">9600</value>
+          <value code="19">19200</value>
+          <value code="38">38400</value>
+          <value code="57">57600</value>
+          <value code="111">111100</value>
+          <value code="115">115200</value>
+          <value code="230">230400</value>
+          <value code="256">256000</value>
+          <value code="460">460800</value>
+          <value code="500">500000</value>
+          <value code="921">921600</value>
+          <value code="1500">1500000</value>
+        </values>
+      </param>
+      <param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+        <values>
+          <value code="-1">None</value>
+          <value code="1">MAVLink1</value>
+          <value code="2">MAVLink2</value>
+          <value code="3">Frsky D</value>
+          <value code="4">Frsky SPort</value>
+          <value code="5">GPS</value>
+          <value code="7">Alexmos Gimbal Serial</value>
+          <value code="8">SToRM32 Gimbal Serial</value>
+          <value code="9">Rangefinder</value>
+          <value code="10">FrSky SPort Passthrough (OpenTX)</value>
+          <value code="11">Lidar360</value>
+          <value code="13">Beacon</value>
+          <value code="14">Volz servo out</value>
+          <value code="15">SBus servo out</value>
+          <value code="16">ESC Telemetry</value>
+          <value code="17">Devo Telemetry</value>
+          <value code="18">OpticalFlow</value>
+          <value code="19">RobotisServo</value>
+          <value code="20">NMEA Output</value>
+          <value code="21">WindVane</value>
+          <value code="22">SLCAN</value>
+          <value code="23">RCIN</value>
+          <value code="24">MegaSquirt EFI</value>
+          <value code="25">LTM</value>
+          <value code="26">RunCam</value>
+          <value code="27">HottTelem</value>
+          <value code="28">Scripting</value>
+          <value code="29">Crossfire</value>
+          <value code="30">Generator</value>
+          <value code="31">Winch</value>
+          <value code="32">MSP</value>
+          <value code="33">DJI FPV</value>
+          <value code="34">AirSpeed</value>
+          <value code="35">ADSB</value>
+          <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+        <values>
+          <value code="1">1200</value>
+          <value code="2">2400</value>
+          <value code="4">4800</value>
+          <value code="9">9600</value>
+          <value code="19">19200</value>
+          <value code="38">38400</value>
+          <value code="57">57600</value>
+          <value code="111">111100</value>
+          <value code="115">115200</value>
+          <value code="230">230400</value>
+          <value code="256">256000</value>
+          <value code="460">460800</value>
+          <value code="500">500000</value>
+          <value code="921">921600</value>
+          <value code="1500">1500000</value>
+        </values>
+      </param>
+      <param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+        <values>
+          <value code="-1">None</value>
+          <value code="1">MAVLink1</value>
+          <value code="2">MAVLink2</value>
+          <value code="3">Frsky D</value>
+          <value code="4">Frsky SPort</value>
+          <value code="5">GPS</value>
+          <value code="7">Alexmos Gimbal Serial</value>
+          <value code="8">SToRM32 Gimbal Serial</value>
+          <value code="9">Rangefinder</value>
+          <value code="10">FrSky SPort Passthrough (OpenTX)</value>
+          <value code="11">Lidar360</value>
+          <value code="13">Beacon</value>
+          <value code="14">Volz servo out</value>
+          <value code="15">SBus servo out</value>
+          <value code="16">ESC Telemetry</value>
+          <value code="17">Devo Telemetry</value>
+          <value code="18">OpticalFlow</value>
+          <value code="19">RobotisServo</value>
+          <value code="20">NMEA Output</value>
+          <value code="21">WindVane</value>
+          <value code="22">SLCAN</value>
+          <value code="23">RCIN</value>
+          <value code="24">MegaSquirt EFI</value>
+          <value code="25">LTM</value>
+          <value code="26">RunCam</value>
+          <value code="27">HottTelem</value>
+          <value code="28">Scripting</value>
+          <value code="29">Crossfire</value>
+          <value code="30">Generator</value>
+          <value code="31">Winch</value>
+          <value code="32">MSP</value>
+          <value code="33">DJI FPV</value>
+          <value code="34">AirSpeed</value>
+          <value code="35">ADSB</value>
+          <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+        <values>
+          <value code="1">1200</value>
+          <value code="2">2400</value>
+          <value code="4">4800</value>
+          <value code="9">9600</value>
+          <value code="19">19200</value>
+          <value code="38">38400</value>
+          <value code="57">57600</value>
+          <value code="111">111100</value>
+          <value code="115">115200</value>
+          <value code="230">230400</value>
+          <value code="256">256000</value>
+          <value code="460">460800</value>
+          <value code="500">500000</value>
+          <value code="921">921600</value>
+          <value code="1500">1500000</value>
+        </values>
+      </param>
+      <param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+        <values>
+          <value code="-1">None</value>
+          <value code="1">MAVLink1</value>
+          <value code="2">MAVLink2</value>
+          <value code="3">Frsky D</value>
+          <value code="4">Frsky SPort</value>
+          <value code="5">GPS</value>
+          <value code="7">Alexmos Gimbal Serial</value>
+          <value code="8">SToRM32 Gimbal Serial</value>
+          <value code="9">Rangefinder</value>
+          <value code="10">FrSky SPort Passthrough (OpenTX)</value>
+          <value code="11">Lidar360</value>
+          <value code="13">Beacon</value>
+          <value code="14">Volz servo out</value>
+          <value code="15">SBus servo out</value>
+          <value code="16">ESC Telemetry</value>
+          <value code="17">Devo Telemetry</value>
+          <value code="18">OpticalFlow</value>
+          <value code="19">RobotisServo</value>
+          <value code="20">NMEA Output</value>
+          <value code="21">WindVane</value>
+          <value code="22">SLCAN</value>
+          <value code="23">RCIN</value>
+          <value code="24">MegaSquirt EFI</value>
+          <value code="25">LTM</value>
+          <value code="26">RunCam</value>
+          <value code="27">HottTelem</value>
+          <value code="28">Scripting</value>
+          <value code="29">Crossfire</value>
+          <value code="30">Generator</value>
+          <value code="31">Winch</value>
+          <value code="32">MSP</value>
+          <value code="33">DJI FPV</value>
+          <value code="34">AirSpeed</value>
+          <value code="35">ADSB</value>
+          <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+        <values>
+          <value code="1">1200</value>
+          <value code="2">2400</value>
+          <value code="4">4800</value>
+          <value code="9">9600</value>
+          <value code="19">19200</value>
+          <value code="38">38400</value>
+          <value code="57">57600</value>
+          <value code="111">111100</value>
+          <value code="115">115200</value>
+          <value code="230">230400</value>
+          <value code="256">256000</value>
+          <value code="460">460800</value>
+          <value code="500">500000</value>
+          <value code="921">921600</value>
+          <value code="1500">1500000</value>
+        </values>
+      </param>
+      <param humanName="Serial5 protocol selection" name="SERIAL5_PROTOCOL" documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+        <values>
+          <value code="-1">None</value>
+          <value code="1">MAVLink1</value>
+          <value code="2">MAVLink2</value>
+          <value code="3">Frsky D</value>
+          <value code="4">Frsky SPort</value>
+          <value code="5">GPS</value>
+          <value code="7">Alexmos Gimbal Serial</value>
+          <value code="8">SToRM32 Gimbal Serial</value>
+          <value code="9">Rangefinder</value>
+          <value code="10">FrSky SPort Passthrough (OpenTX)</value>
+          <value code="11">Lidar360</value>
+          <value code="13">Beacon</value>
+          <value code="14">Volz servo out</value>
+          <value code="15">SBus servo out</value>
+          <value code="16">ESC Telemetry</value>
+          <value code="17">Devo Telemetry</value>
+          <value code="18">OpticalFlow</value>
+          <value code="19">RobotisServo</value>
+          <value code="20">NMEA Output</value>
+          <value code="21">WindVane</value>
+          <value code="22">SLCAN</value>
+          <value code="23">RCIN</value>
+          <value code="24">MegaSquirt EFI</value>
+          <value code="25">LTM</value>
+          <value code="26">RunCam</value>
+          <value code="27">HottTelem</value>
+          <value code="28">Scripting</value>
+          <value code="29">Crossfire</value>
+          <value code="30">Generator</value>
+          <value code="31">Winch</value>
+          <value code="32">MSP</value>
+          <value code="33">DJI FPV</value>
+          <value code="34">AirSpeed</value>
+          <value code="35">ADSB</value>
+          <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+        <values>
+          <value code="1">1200</value>
+          <value code="2">2400</value>
+          <value code="4">4800</value>
+          <value code="9">9600</value>
+          <value code="19">19200</value>
+          <value code="38">38400</value>
+          <value code="57">57600</value>
+          <value code="111">111100</value>
+          <value code="115">115200</value>
+          <value code="230">230400</value>
+          <value code="256">256000</value>
+          <value code="460">460800</value>
+          <value code="500">500000</value>
+          <value code="921">921600</value>
+          <value code="1500">1500000</value>
+        </values>
+      </param>
+      <param humanName="Serial6 protocol selection" name="SERIAL6_PROTOCOL" documentation="Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+        <values>
+          <value code="-1">None</value>
+          <value code="1">MAVLink1</value>
+          <value code="2">MAVLink2</value>
+          <value code="3">Frsky D</value>
+          <value code="4">Frsky SPort</value>
+          <value code="5">GPS</value>
+          <value code="7">Alexmos Gimbal Serial</value>
+          <value code="8">SToRM32 Gimbal Serial</value>
+          <value code="9">Rangefinder</value>
+          <value code="10">FrSky SPort Passthrough (OpenTX)</value>
+          <value code="11">Lidar360</value>
+          <value code="13">Beacon</value>
+          <value code="14">Volz servo out</value>
+          <value code="15">SBus servo out</value>
+          <value code="16">ESC Telemetry</value>
+          <value code="17">Devo Telemetry</value>
+          <value code="18">OpticalFlow</value>
+          <value code="19">RobotisServo</value>
+          <value code="20">NMEA Output</value>
+          <value code="21">WindVane</value>
+          <value code="22">SLCAN</value>
+          <value code="23">RCIN</value>
+          <value code="24">MegaSquirt EFI</value>
+          <value code="25">LTM</value>
+          <value code="26">RunCam</value>
+          <value code="27">HottTelem</value>
+          <value code="28">Scripting</value>
+          <value code="29">Crossfire</value>
+          <value code="30">Generator</value>
+          <value code="31">Winch</value>
+          <value code="32">MSP</value>
+          <value code="33">DJI FPV</value>
+          <value code="34">AirSpeed</value>
+          <value code="35">ADSB</value>
+          <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 6 Baud Rate" name="SERIAL6_BAUD" documentation="The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+        <values>
+          <value code="1">1200</value>
+          <value code="2">2400</value>
+          <value code="4">4800</value>
+          <value code="9">9600</value>
+          <value code="19">19200</value>
+          <value code="38">38400</value>
+          <value code="57">57600</value>
+          <value code="111">111100</value>
+          <value code="115">115200</value>
+          <value code="230">230400</value>
+          <value code="256">256000</value>
+          <value code="460">460800</value>
+          <value code="500">500000</value>
+          <value code="921">921600</value>
+          <value code="1500">1500000</value>
+        </values>
+      </param>
+      <param humanName="Telem1 options" name="SERIAL1_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Telem2 options" name="SERIAL2_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial3 options" name="SERIAL3_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial4 options" name="SERIAL4_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial5 options" name="SERIAL5_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial6 options" name="SERIAL6_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial passthru first port" name="SERIAL_PASS1" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="0">Serial0</value>
+          <value code="1">Serial1</value>
+          <value code="2">Serial2</value>
+          <value code="3">Serial3</value>
+          <value code="4">Serial4</value>
+          <value code="5">Serial5</value>
+          <value code="6">Serial6</value>
+        </values>
+      </param>
+      <param humanName="Serial passthru second port" name="SERIAL_PASS2" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
+        <values>
+          <value code="-1">Disabled</value>
+          <value code="0">Serial0</value>
+          <value code="1">Serial1</value>
+          <value code="2">Serial2</value>
+          <value code="3">Serial3</value>
+          <value code="4">Serial4</value>
+          <value code="5">Serial5</value>
+          <value code="6">Serial6</value>
+        </values>
+      </param>
+      <param humanName="Serial passthru timeout" name="SERIAL_PASSTIMO" documentation="This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout." user="Advanced">
+        <field name="Range">0 120</field>
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+      </param>
+      <param humanName="Serial7 protocol selection" name="SERIAL7_PROTOCOL" documentation="Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+        <values>
+          <value code="-1">None</value>
+          <value code="1">MAVLink1</value>
+          <value code="2">MAVLink2</value>
+          <value code="3">Frsky D</value>
+          <value code="4">Frsky SPort</value>
+          <value code="5">GPS</value>
+          <value code="7">Alexmos Gimbal Serial</value>
+          <value code="8">SToRM32 Gimbal Serial</value>
+          <value code="9">Rangefinder</value>
+          <value code="10">FrSky SPort Passthrough (OpenTX)</value>
+          <value code="11">Lidar360</value>
+          <value code="13">Beacon</value>
+          <value code="14">Volz servo out</value>
+          <value code="15">SBus servo out</value>
+          <value code="16">ESC Telemetry</value>
+          <value code="17">Devo Telemetry</value>
+          <value code="18">OpticalFlow</value>
+          <value code="19">RobotisServo</value>
+          <value code="20">NMEA Output</value>
+          <value code="21">WindVane</value>
+          <value code="22">SLCAN</value>
+          <value code="23">RCIN</value>
+          <value code="24">MegaSquirt EFI</value>
+          <value code="25">LTM</value>
+          <value code="26">RunCam</value>
+          <value code="27">HottTelem</value>
+          <value code="28">Scripting</value>
+          <value code="29">Crossfire</value>
+          <value code="30">Generator</value>
+          <value code="31">Winch</value>
+          <value code="32">MSP</value>
+          <value code="33">DJI FPV</value>
+          <value code="34">AirSpeed</value>
+          <value code="35">ADSB</value>
+          <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 7 Baud Rate" name="SERIAL7_BAUD" documentation="The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+        <values>
+          <value code="1">1200</value>
+          <value code="2">2400</value>
+          <value code="4">4800</value>
+          <value code="9">9600</value>
+          <value code="19">19200</value>
+          <value code="38">38400</value>
+          <value code="57">57600</value>
+          <value code="111">111100</value>
+          <value code="115">115200</value>
+          <value code="230">230400</value>
+          <value code="256">256000</value>
+          <value code="460">460800</value>
+          <value code="500">500000</value>
+          <value code="921">921600</value>
+          <value code="1500">1500000</value>
+        </values>
+      </param>
+      <param humanName="Serial7 options" name="SERIAL7_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial8 protocol selection" name="SERIAL8_PROTOCOL" documentation="Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+        <values>
+          <value code="-1">None</value>
+          <value code="1">MAVLink1</value>
+          <value code="2">MAVLink2</value>
+          <value code="3">Frsky D</value>
+          <value code="4">Frsky SPort</value>
+          <value code="5">GPS</value>
+          <value code="7">Alexmos Gimbal Serial</value>
+          <value code="8">SToRM32 Gimbal Serial</value>
+          <value code="9">Rangefinder</value>
+          <value code="10">FrSky SPort Passthrough (OpenTX)</value>
+          <value code="11">Lidar360</value>
+          <value code="13">Beacon</value>
+          <value code="14">Volz servo out</value>
+          <value code="15">SBus servo out</value>
+          <value code="16">ESC Telemetry</value>
+          <value code="17">Devo Telemetry</value>
+          <value code="18">OpticalFlow</value>
+          <value code="19">RobotisServo</value>
+          <value code="20">NMEA Output</value>
+          <value code="21">WindVane</value>
+          <value code="22">SLCAN</value>
+          <value code="23">RCIN</value>
+          <value code="24">MegaSquirt EFI</value>
+          <value code="25">LTM</value>
+          <value code="26">RunCam</value>
+          <value code="27">HottTelem</value>
+          <value code="28">Scripting</value>
+          <value code="29">Crossfire</value>
+          <value code="30">Generator</value>
+          <value code="31">Winch</value>
+          <value code="32">MSP</value>
+          <value code="33">DJI FPV</value>
+          <value code="34">AirSpeed</value>
+          <value code="35">ADSB</value>
+          <value code="36">AHRS</value>
+          <value code="37">SmartAudio</value>
+          <value code="38">FETtecOneWire</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Serial 8 Baud Rate" name="SERIAL8_BAUD" documentation="The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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." user="Standard">
+        <values>
+          <value code="1">1200</value>
+          <value code="2">2400</value>
+          <value code="4">4800</value>
+          <value code="9">9600</value>
+          <value code="19">19200</value>
+          <value code="38">38400</value>
+          <value code="57">57600</value>
+          <value code="111">111100</value>
+          <value code="115">115200</value>
+          <value code="230">230400</value>
+          <value code="256">256000</value>
+          <value code="460">460800</value>
+          <value code="500">500000</value>
+          <value code="921">921600</value>
+          <value code="1500">1500000</value>
+        </values>
+      </param>
+      <param humanName="Serial8 options" name="SERIAL8_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+        <field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
+        <field name="RebootRequired">True</field>
+      </param>
+    </parameters>
+    <parameters name="SERVO">
+      <param humanName="Servo default output rate" name="SERVO_RATE" documentation="This sets the default output rate in Hz for all outputs." user="Advanced">
+        <field name="Range">25 400</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+      <param humanName="Servo DShot output rate" name="SERVO_DSHOT_RATE" documentation="This sets the DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz." user="Advanced">
+        <values>
+          <value code="0">1Khz</value>
+          <value code="1">loop-rate</value>
+          <value code="2">double loop-rate</value>
+          <value code="3">triple loop-rate</value>
+          <value code="4">quadruple loop rate</value>
+        </values>
+      </param>
+      <param humanName="Servo DShot ESC type" name="SERVO_DSHOT_ESC" documentation="This sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed." user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">BLHeli32/BLHeli_S/Kiss</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO10_">
+      <param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO10_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO10_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO11_">
+      <param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO11_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO11_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO12_">
+      <param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO13_">
+      <param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO14_">
+      <param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO15_">
+      <param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO16_">
+      <param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO1_">
+      <param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO2_">
+      <param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO3_">
+      <param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO4_">
+      <param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO5_">
+      <param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO6_">
+      <param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO7_">
+      <param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO8_">
+      <param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO9_">
+      <param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">500 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+        <field name="Units">PWM</field>
+        <field name="UnitText">PWM in microseconds</field>
+        <field name="Range">800 2200</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+        <values>
+          <value code="0">Normal</value>
+          <value code="1">Reversed</value>
+        </values>
+      </param>
+      <param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">RCPassThru</value>
+          <value code="2">Flap</value>
+          <value code="3">FlapAuto</value>
+          <value code="4">Aileron</value>
+          <value code="6">MountPan</value>
+          <value code="7">MountTilt</value>
+          <value code="8">MountRoll</value>
+          <value code="9">MountOpen</value>
+          <value code="10">CameraTrigger</value>
+          <value code="12">Mount2Pan</value>
+          <value code="13">Mount2Tilt</value>
+          <value code="14">Mount2Roll</value>
+          <value code="15">Mount2Open</value>
+          <value code="16">DifferentialSpoilerLeft1</value>
+          <value code="17">DifferentialSpoilerRight1</value>
+          <value code="19">Elevator</value>
+          <value code="21">Rudder</value>
+          <value code="22">SprayerPump</value>
+          <value code="23">SprayerSpinner</value>
+          <value code="24">FlaperonLeft</value>
+          <value code="25">FlaperonRight</value>
+          <value code="26">GroundSteering</value>
+          <value code="27">Parachute</value>
+          <value code="28">Gripper</value>
+          <value code="29">LandingGear</value>
+          <value code="30">EngineRunEnable</value>
+          <value code="31">HeliRSC</value>
+          <value code="32">HeliTailRSC</value>
+          <value code="33">Motor1</value>
+          <value code="34">Motor2</value>
+          <value code="35">Motor3</value>
+          <value code="36">Motor4</value>
+          <value code="37">Motor5</value>
+          <value code="38">Motor6</value>
+          <value code="39">Motor7</value>
+          <value code="40">Motor8</value>
+          <value code="41">TiltMotorsFront</value>
+          <value code="45">TiltMotorsRear</value>
+          <value code="46">TiltMotorRearLeft</value>
+          <value code="47">TiltMotorRearRight</value>
+          <value code="51">RCIN1</value>
+          <value code="52">RCIN2</value>
+          <value code="53">RCIN3</value>
+          <value code="54">RCIN4</value>
+          <value code="55">RCIN5</value>
+          <value code="56">RCIN6</value>
+          <value code="57">RCIN7</value>
+          <value code="58">RCIN8</value>
+          <value code="59">RCIN9</value>
+          <value code="60">RCIN10</value>
+          <value code="61">RCIN11</value>
+          <value code="62">RCIN12</value>
+          <value code="63">RCIN13</value>
+          <value code="64">RCIN14</value>
+          <value code="65">RCIN15</value>
+          <value code="66">RCIN16</value>
+          <value code="67">Ignition</value>
+          <value code="69">Starter</value>
+          <value code="70">Throttle</value>
+          <value code="71">TrackerYaw</value>
+          <value code="72">TrackerPitch</value>
+          <value code="73">ThrottleLeft</value>
+          <value code="74">ThrottleRight</value>
+          <value code="75">TiltMotorFrontLeft</value>
+          <value code="76">TiltMotorFrontRight</value>
+          <value code="77">ElevonLeft</value>
+          <value code="78">ElevonRight</value>
+          <value code="79">VTailLeft</value>
+          <value code="80">VTailRight</value>
+          <value code="81">BoostThrottle</value>
+          <value code="82">Motor9</value>
+          <value code="83">Motor10</value>
+          <value code="84">Motor11</value>
+          <value code="85">Motor12</value>
+          <value code="86">DifferentialSpoilerLeft2</value>
+          <value code="87">DifferentialSpoilerRight2</value>
+          <value code="88">Winch</value>
+          <value code="89">Main Sail</value>
+          <value code="90">CameraISO</value>
+          <value code="91">CameraAperture</value>
+          <value code="92">CameraFocus</value>
+          <value code="93">CameraShutterSpeed</value>
+          <value code="94">Script1</value>
+          <value code="95">Script2</value>
+          <value code="96">Script3</value>
+          <value code="97">Script4</value>
+          <value code="98">Script5</value>
+          <value code="99">Script6</value>
+          <value code="100">Script7</value>
+          <value code="101">Script8</value>
+          <value code="102">Script9</value>
+          <value code="103">Script10</value>
+          <value code="104">Script11</value>
+          <value code="105">Script12</value>
+          <value code="106">Script13</value>
+          <value code="107">Script14</value>
+          <value code="108">Script15</value>
+          <value code="109">Script16</value>
+          <value code="120">NeoPixel1</value>
+          <value code="121">NeoPixel2</value>
+          <value code="122">NeoPixel3</value>
+          <value code="123">NeoPixel4</value>
+          <value code="124">RateRoll</value>
+          <value code="125">RatePitch</value>
+          <value code="126">RateThrust</value>
+          <value code="127">RateYaw</value>
+          <value code="128">WingSailElevator</value>
+          <value code="129">ProfiLED1</value>
+          <value code="130">ProfiLED2</value>
+          <value code="131">ProfiLED3</value>
+          <value code="132">ProfiLEDClock</value>
+          <value code="133">Winch Clutch</value>
+          <value code="134">SERVOn_MIN</value>
+          <value code="135">SERVOn_TRIM</value>
+          <value code="136">SERVOn_MAX</value>
+          <value code="137">SailMastRotation</value>
+        </values>
+      </param>
+    </parameters>
+    <parameters name="SERVO_BLH_">
+      <param humanName="BLHeli Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
+        <field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+      </param>
+      <param humanName="BLHeli pass-thru auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="BLHeli internal interface test" name="SERVO_BLH_TEST" documentation="Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console." user="Advanced">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">TestMotor1</value>
+          <value code="2">TestMotor2</value>
+          <value code="3">TestMotor3</value>
+          <value code="4">TestMotor4</value>
+          <value code="5">TestMotor5</value>
+          <value code="6">TestMotor6</value>
+          <value code="7">TestMotor7</value>
+          <value code="8">TestMotor8</value>
+        </values>
+      </param>
+      <param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+        <field name="Range">0 300</field>
+      </param>
+      <param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 500</field>
+      </param>
+      <param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="BLHeli output type override" name="SERVO_BLH_OTYPE" documentation="When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group." user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">OneShot</value>
+          <value code="2">OneShot125</value>
+          <value code="3">Brushed</value>
+          <value code="4">DShot150</value>
+          <value code="5">DShot300</value>
+          <value code="6">DShot600</value>
+          <value code="7">DShot1200</value>
+        </values>
+      </param>
+      <param humanName="Control port" name="SERVO_BLH_PORT" documentation="This sets the serial port to use for blheli pass-thru" user="Advanced">
+        <values>
+          <value code="0">Console</value>
+          <value code="1">Serial1</value>
+          <value code="2">Serial2</value>
+          <value code="3">Serial3</value>
+          <value code="4">Serial4</value>
+          <value code="5">Serial5</value>
+        </values>
+      </param>
+      <param humanName="BLHeli Motor Poles" name="SERVO_BLH_POLES" documentation="This allows calculation of true RPM from ESC's eRPM. The default is 14." user="Advanced">
+        <field name="Range">1 127</field>
+      </param>
+      <param humanName="BLHeli bitmask of 3D channels" name="SERVO_BLH_3DMASK" documentation="Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction" user="Advanced">
+        <field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+      </param>
+      <param humanName="BLHeli bitmask of bi-directional dshot channels" name="SERVO_BLH_BDMASK" documentation="Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch." user="Advanced">
+        <field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+      </param>
+      <param humanName="BLHeli bitmask of reversed channels" name="SERVO_BLH_RVMASK" documentation="Mask of channels which are reversed. This is used to configure ESCs in reversed mode" user="Advanced">
+        <field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+      </param>
+    </parameters>
+    <parameters name="SERVO_FTW_">
+      <param humanName="Servo channel output bitmask" name="SERVO_FTW_MASK" documentation="Servo channel mask specifying FETtec ESC output." user="Standard">
+        <field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Servo channel reverse rotation bitmask" name="SERVO_FTW_RVMASK" documentation="Servo channel mask to reverse rotation of FETtec ESC outputs." user="Standard">
+        <field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
+      </param>
+      <param humanName="Nr. electrical poles" name="SERVO_FTW_POLES" documentation="Number of motor electrical poles" user="Standard">
+        <field name="Range">2 50</field>
+      </param>
+    </parameters>
+    <parameters name="SERVO_ROB_">
+      <param humanName="Robotis servo position min" name="SERVO_ROB_POSMIN" documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
+        <field name="Range">0 4095</field>
+      </param>
+      <param humanName="Robotis servo position max" name="SERVO_ROB_POSMAX" documentation="Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
+        <field name="Range">0 4095</field>
+      </param>
+    </parameters>
+    <parameters name="SERVO_SBUS_">
+      <param humanName="SBUS default output rate" name="SERVO_SBUS_RATE" documentation="This sets the SBUS output frame rate in Hz." user="Advanced">
+        <field name="Range">25 250</field>
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+      </param>
+    </parameters>
+    <parameters name="SERVO_VOLZ_">
+      <param humanName="Channel Bitmask" name="SERVO_VOLZ_MASK" documentation="Enable of volz servo protocol to specific channels" user="Standard">
+        <field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+      </param>
+    </parameters>
+    <parameters name="SR0_">
+      <param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="SR1_">
+      <param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="SR2_">
+      <param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="SR3_">
+      <param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="SR4_">
+      <param humanName="Raw sensor stream rate" name="SR4_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extended status stream rate to ground station" name="SR4_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC Channel stream rate to ground station" name="SR4_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Position stream rate to ground station" name="SR4_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 1 stream rate to ground station" name="SR4_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 2 stream rate to ground station" name="SR4_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 3 stream rate to ground station" name="SR4_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Parameter stream rate to ground station" name="SR4_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="SR5_">
+      <param humanName="Raw sensor stream rate" name="SR5_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extended status stream rate to ground station" name="SR5_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC Channel stream rate to ground station" name="SR5_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Position stream rate to ground station" name="SR5_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 1 stream rate to ground station" name="SR5_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 2 stream rate to ground station" name="SR5_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 3 stream rate to ground station" name="SR5_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Parameter stream rate to ground station" name="SR5_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="SR6_">
+      <param humanName="Raw sensor stream rate" name="SR6_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extended status stream rate to ground station" name="SR6_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="RC Channel stream rate to ground station" name="SR6_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Position stream rate to ground station" name="SR6_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 1 stream rate to ground station" name="SR6_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 2 stream rate to ground station" name="SR6_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Extra data type 3 stream rate to ground station" name="SR6_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Parameter stream rate to ground station" name="SR6_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+        <field name="Units">Hz</field>
+        <field name="UnitText">hertz</field>
+        <field name="Range">0 50</field>
+        <field name="Increment">1</field>
+      </param>
+    </parameters>
+    <parameters name="TERRAIN_">
+      <param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="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." user="Advanced">
+        <values>
+          <value code="0">Disable</value>
+          <value code="1">Enable</value>
+        </values>
+      </param>
+      <param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="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 ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. 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 loaded as needed." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Terrain options" name="TERRAIN_OPTIONS" documentation="Options to change behaviour of terrain system" user="Advanced">
+        <field name="Bitmask">0:Disable Download</field>
+      </param>
+    </parameters>
+    <parameters name="VISO">
+      <param humanName="Visual odometry camera connection type" name="VISO_TYPE" documentation="Visual odometry camera connection type" user="Advanced">
+        <values>
+          <value code="0">None</value>
+          <value code="1">MAVLink</value>
+          <value code="2">IntelT265</value>
+        </values>
+        <field name="RebootRequired">True</field>
+      </param>
+      <param humanName="Visual odometry camera X position offset" name="VISO_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Visual odometry camera Y position offset" name="VISO_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Visual odometry camera Z position offset" name="VISO_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">-5 5</field>
+        <field name="Increment">0.01</field>
+      </param>
+      <param humanName="Visual odometery camera orientation" name="VISO_ORIENT" documentation="Visual odometery camera orientation" user="Advanced">
+        <values>
+          <value code="0">Forward</value>
+          <value code="2">Right</value>
+          <value code="4">Back</value>
+          <value code="6">Left</value>
+          <value code="24">Up</value>
+          <value code="25">Down</value>
+        </values>
+      </param>
+      <param humanName="Visual odometry scaling factor" name="VISO_SCALE" documentation="Visual odometry scaling factor applied to position estimates from sensor" user="Advanced">
+</param>
+      <param humanName="Visual odometry sensor delay" name="VISO_DELAY_MS" documentation="Visual odometry sensor delay relative to inertial measurements" user="Advanced">
+        <field name="Units">ms</field>
+        <field name="UnitText">milliseconds</field>
+        <field name="Range">0 250</field>
+      </param>
+      <param humanName="Visual odometry velocity measurement noise" name="VISO_VEL_M_NSE" documentation="Visual odometry velocity measurement noise in m/s" user="Advanced">
+        <field name="Units">m/s</field>
+        <field name="UnitText">meters per second</field>
+        <field name="Range">0.05 5.0</field>
+      </param>
+      <param humanName="Visual odometry position measurement noise " name="VISO_POS_M_NSE" documentation="Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)" user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0.1 10.0</field>
+      </param>
+      <param humanName="Visual odometry yaw measurement noise" name="VISO_YAW_M_NSE" documentation="Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)" user="Advanced">
+        <field name="Units">rad</field>
+        <field name="UnitText">radians</field>
+        <field name="Range">0.05 1.0</field>
+      </param>
+    </parameters>
+    <parameters name="VTX_">
+      <param humanName="Is the Video Transmitter enabled or not" name="VTX_ENABLE" documentation="Toggles the Video Transmitter on and off">
+        <values>
+          <value code="0">Disable</value>
+          <value code="1">Enable</value>
+        </values>
+      </param>
+      <param humanName="Video Transmitter Power Level" name="VTX_POWER" documentation="Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level">
+        <field name="Range">1 1000</field>
+      </param>
+      <param humanName="Video Transmitter Channel" name="VTX_CHANNEL" documentation="Video Transmitter Channel" user="Standard">
+        <field name="Range">0 7</field>
+      </param>
+      <param humanName="Video Transmitter Band" name="VTX_BAND" documentation="Video Transmitter Band" user="Standard">
+        <values>
+          <value code="0">Band A</value>
+          <value code="1">Band B</value>
+          <value code="2">Band E</value>
+          <value code="3">Airwave</value>
+          <value code="4">RaceBand</value>
+          <value code="5">Low RaceBand</value>
+        </values>
+      </param>
+      <param humanName="Video Transmitter Frequency" name="VTX_FREQ" documentation="Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL" user="Standard">
+        <field name="ReadOnly">True</field>
+        <field name="Range">5000 6000</field>
+      </param>
+      <param humanName="Video Transmitter Options" name="VTX_OPTIONS" documentation="Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels." user="Advanced">
+        <field name="Bitmask">0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests</field>
+      </param>
+      <param humanName="Video Transmitter Max Power Level" name="VTX_MAX_POWER" documentation="Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.">
+        <field name="Range">25 1000</field>
+      </param>
+    </parameters>
+    <parameters name="WPNAV_">
+      <param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
+        <field name="Units">cm/s</field>
+        <field name="UnitText">centimeters per second</field>
+        <field name="Range">20 2000</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
+        <field name="Units">cm</field>
+        <field name="UnitText">centimeters</field>
+        <field name="Range">5 1000</field>
+        <field name="Increment">1</field>
+      </param>
+      <param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
+        <field name="Units">cm/s</field>
+        <field name="UnitText">centimeters per second</field>
+        <field name="Range">10 1000</field>
+        <field name="Increment">50</field>
+      </param>
+      <param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
+        <field name="Units">cm/s</field>
+        <field name="UnitText">centimeters per second</field>
+        <field name="Range">10 500</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
+        <field name="Units">cm/s/s</field>
+        <field name="UnitText">centimeters per square second</field>
+        <field name="Range">50 500</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
+        <field name="Units">cm/s/s</field>
+        <field name="UnitText">centimeters per square second</field>
+        <field name="Range">50 500</field>
+        <field name="Increment">10</field>
+      </param>
+      <param humanName="Waypoint missions use rangefinder for terrain following" name="WPNAV_RFND_USE" documentation="This controls if waypoint missions use rangefinder for terrain following" user="Advanced">
+        <values>
+          <value code="0">Disable</value>
+          <value code="1">Enable</value>
+        </values>
+      </param>
+      <param humanName="Waypoint Jerk" name="WPNAV_JERK" documentation="Defines the horizontal jerk in m/s/s used during missions" user="Standard">
+        <field name="Units">m/s/s/s</field>
+        <field name="UnitText">meters per cubic second</field>
+        <field name="Range">1 20</field>
+      </param>
+      <param humanName="Waypoint Terrain following altitude margin" name="WPNAV_TER_MARGIN" documentation="Waypoint Terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)" user="Advanced">
+        <field name="Units">m</field>
+        <field name="UnitText">meters</field>
+        <field name="Range">0.1 100</field>
+      </param>
+    </parameters>
+  </libraries>
 </paramfile>
diff --git a/Sub-4.5/apm.pdef.json b/Sub-4.5/apm.pdef.json
index fa0e3fd..8f47d4f 100644
--- a/Sub-4.5/apm.pdef.json
+++ b/Sub-4.5/apm.pdef.json
@@ -1,3063 +1,3161 @@
 {
-  "": {
-    "AEROM_ALT_ABORT": {
-      "Description": "Maximum allowable loss in altitude during a trick or sequence from its starting altitude.",
-      "DisplayName": "Altitude Abort",
-      "Units": "m"
-    },
-    "AEROM_ANG_ACCEL": {
-      "Description": "Maximum angular acceleration in maneuvers",
-      "DisplayName": "Angular acceleration limit",
-      "Units": "deg/s/s"
-    },
-    "AEROM_ANG_TC": {
-      "Description": "This is the time over which we filter the desired roll to smooth it",
-      "DisplayName": "Roll control filtertime constant",
-      "Units": "s"
-    },
-    "AEROM_BOX_WIDTH": {
-      "Description": "Length of aerobatic \"box\" ",
-      "DisplayName": "Box Width",
-      "Units": "m"
-    },
-    "AEROM_DEBUG": {
-      "Description": "This controls the printing of extra debug information on paths",
-      "DisplayName": "Debug control"
-    },
-    "AEROM_ENTRY_RATE": {
-      "Description": "This controls how rapidly we roll into a new orientation",
-      "DisplayName": "The roll rate to use when entering a roll maneuver",
-      "Units": "deg/s"
-    },
-    "AEROM_ERR_COR_D": {
-      "Description": "This controls how rapidly we correct back onto the desired path",
-      "DisplayName": "D gain for path error corrections"
-    },
-    "AEROM_ERR_COR_P": {
-      "Description": "This controls how rapidly we correct back onto the desired path",
-      "DisplayName": "P gain for path error corrections"
-    },
-    "AEROM_KE_RUDD": {
-      "Description": "Percent of rudder normally uses to sustain knife-edge at trick speed",
-      "DisplayName": "KnifeEdge Rudder",
-      "Units": "%"
-    },
-    "AEROM_KE_RUDD_LK": {
-      "Description": "Time to look ahead in the path to calculate rudder correction for bank angle",
-      "DisplayName": "KnifeEdge Rudder lookahead",
-      "Units": "s"
-    },
-    "AEROM_LKAHD": {
-      "Description": "This is how much time to look ahead in the path for calculating path rates",
-      "DisplayName": "Lookahead",
-      "Units": "s"
-    },
-    "AEROM_MIS_ANGLE": {
-      "Description": "When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used",
-      "DisplayName": "Mission angle",
-      "Units": "deg"
-    },
-    "AEROM_OPTIONS": {
-      "Bitmask": {
-        "0": "UseRTLOnAbort",
-        "1": "AddAtToMessages",
-        "2": "DualAircraftSynchronised"
-      },
-      "Description": "Options to control aerobatic behavior",
-      "DisplayName": "Aerobatic options",
-      "Units": "deg"
-    },
-    "AEROM_PATH_SCALE": {
-      "Description": "Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.",
-      "DisplayName": "Path Scale",
-      "Range": {
-        "high": "100",
-        "low": "0.1"
-      }
-    },
-    "AEROM_ROL_COR_TC": {
-      "Description": "This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections",
-      "DisplayName": "Roll control time constant",
-      "Units": "s"
-    },
-    "AEROM_SPD_I": {
-      "Description": "This controls how rapidly the throttle is raised to compensate for a speed error",
-      "DisplayName": "I gain for speed controller",
-      "Units": "%"
-    },
-    "AEROM_SPD_P": {
-      "Description": "This controls how rapidly the throttle is raised to compensate for a speed error",
-      "DisplayName": "P gain for speed controller",
-      "Units": "%"
-    },
-    "AEROM_STALL_PIT": {
-      "Description": "Pitch threashold for moving to final stage of stall turn",
-      "DisplayName": "Stall turn pitch threshold",
-      "Units": "deg"
-    },
-    "AEROM_STALL_THR": {
-      "Description": "Amount of throttle to reduce to for a stall turn",
-      "DisplayName": "Stall turn throttle",
-      "Units": "%"
-    },
-    "AEROM_THR_BOOST": {
-      "Description": "This is the extra throttle added in schedule elements marked as needing a throttle boost",
-      "DisplayName": "Throttle boost",
-      "Units": "%"
-    },
-    "AEROM_THR_LKAHD": {
-      "Description": "This controls how far ahead we look in time along the path for the target throttle",
-      "DisplayName": "The lookahead for throttle control",
-      "Units": "s"
-    },
-    "AEROM_THR_MIN": {
-      "Description": "Lowest throttle used during maneuvers",
-      "DisplayName": "Minimum Throttle",
-      "Units": "%"
-    },
-    "AEROM_THR_PIT_FF": {
-      "Description": "This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch",
-      "DisplayName": "Throttle feed forward from pitch",
-      "Units": "%"
-    },
-    "AEROM_TIME_COR_P": {
-      "Description": "This is the time constant for correcting path position errors",
-      "DisplayName": "Time constant for correction of our distance along the path",
-      "Units": "s"
-    },
-    "AEROM_TS_I": {
-      "Description": "This controls how rapidly two aircraft are brought back into time sync",
-      "DisplayName": "Timesync I gain"
-    },
-    "AEROM_TS_P": {
-      "Description": "This controls how rapidly two aircraft are brought back into time sync",
-      "DisplayName": "Timesync P gain"
-    },
-    "AEROM_TS_RATE": {
-      "Description": "This sets the rate we send data for time sync between aircraft",
-      "DisplayName": "Timesync rate of send of NAMED_VALUE_FLOAT data",
-      "Units": "Hz"
-    },
-    "AEROM_TS_SPDMAX": {
-      "Description": "This sets the maximum speed adjustment for time sync between aircraft",
-      "DisplayName": "Timesync speed max",
-      "Units": "m/s"
-    },
-    "AEROM_YAW_ACCEL": {
-      "Description": "This is maximum yaw acceleration to use",
-      "DisplayName": "Yaw acceleration",
-      "Units": "deg/s/s"
-    },
-    "BATT_ANX_CANDRV": {
-      "Description": "Set ANX CAN driver",
-      "DisplayName": "Set ANX CAN driver",
-      "User": "Standard",
-      "Values": {
-        "0": "None",
-        "1": "1stCANDriver",
-        "2": "2ndCanDriver"
-      }
-    },
-    "BATT_ANX_ENABLE": {
-      "Description": "Enable ANX battery support",
-      "DisplayName": "Enable ANX battery support",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "BATT_ANX_INDEX": {
-      "Description": "ANX CAN battery index",
-      "DisplayName": "ANX CAN battery index",
+  "AHRS_": {
+    "AHRS_COMP_BETA": {
+      "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.",
+      "DisplayName": "AHRS Velocity Complementary Filter Beta Coefficient",
+      "Increment": ".01",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "0.5",
+        "low": "0.001"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "BATT_ANX_OPTIONS": {
-      "Bitmask": {
-        "0": "LogAllFrames"
+    "AHRS_CUSTOM_PIT": {
+      "Description": "Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.",
+      "DisplayName": "Board orientation pitch offset",
+      "Increment": "1",
+      "Range": {
+        "high": "180",
+        "low": "-180"
       },
-      "Description": "ANX CAN battery options",
-      "DisplayName": "ANX CAN battery options",
+      "Units": "deg",
       "User": "Advanced"
     },
-    "BATT_SOC1_C1": {
-      "Description": "Battery estimator coefficient1",
-      "DisplayName": "Battery estimator coefficient1",
+    "AHRS_CUSTOM_ROLL": {
+      "Description": "Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.",
+      "DisplayName": "Board orientation roll offset",
+      "Increment": "1",
       "Range": {
-        "high": "200",
-        "low": "100"
+        "high": "180",
+        "low": "-180"
       },
-      "User": "Standard"
+      "Units": "deg",
+      "User": "Advanced"
     },
-    "BATT_SOC1_C2": {
-      "Description": "Battery estimator coefficient2",
-      "DisplayName": "Battery estimator coefficient2",
+    "AHRS_CUSTOM_YAW": {
+      "Description": "Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.",
+      "DisplayName": "Board orientation yaw offset",
+      "Increment": "1",
       "Range": {
-        "high": "5",
-        "low": "2"
+        "high": "180",
+        "low": "-180"
       },
-      "User": "Standard"
+      "Units": "deg",
+      "User": "Advanced"
     },
-    "BATT_SOC1_C3": {
-      "Description": "Battery estimator coefficient3",
-      "DisplayName": "Battery estimator coefficient3",
+    "AHRS_EKF_TYPE": {
+      "Description": "This controls which NavEKF Kalman filter version is used for attitude and position estimation",
+      "DisplayName": "Use NavEKF Kalman filter for attitude and position estimation",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "11": "ExternalAHRS",
+        "2": "Enable EKF2",
+        "3": "Enable EKF3"
+      }
+    },
+    "AHRS_GPS_GAIN": {
+      "Description": "This controls 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.",
+      "DisplayName": "AHRS GPS gain",
+      "Increment": ".01",
       "Range": {
-        "high": "0.5",
-        "low": "0.01"
+        "high": "1.0",
+        "low": "0.0"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "BATT_SOC1_IDX": {
-      "Description": "Battery estimator index",
-      "DisplayName": "Battery estimator index",
+    "AHRS_GPS_MINSATS": {
+      "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.",
+      "DisplayName": "AHRS GPS Minimum satellites",
+      "Increment": "1",
       "Range": {
-        "high": "4",
+        "high": "10",
         "low": "0"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "BATT_SOC1_NCELL": {
-      "Description": "Battery estimator cell count",
-      "DisplayName": "Battery estimator cell count",
-      "Range": {
-        "high": "48",
-        "low": "0"
+    "AHRS_GPS_USE": {
+      "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. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.",
+      "DisplayName": "AHRS use GPS for DCM navigation and position-down",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Use GPS for DCM position",
+        "2": "Use GPS for DCM position and height"
+      }
+    },
+    "AHRS_OPTIONS": {
+      "Bitmask": {
+        "0": "DisableDCMFallbackFW",
+        "1": "DisableDCMFallbackVTOL"
       },
-      "User": "Standard"
+      "Description": "This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. ",
+      "DisplayName": "Optional AHRS behaviour",
+      "User": "Advanced"
     },
-    "BATT_SOC2_C1": {
-      "Description": "Battery estimator coefficient1",
-      "DisplayName": "Battery estimator coefficient1",
+    "AHRS_ORIENTATION": {
+      "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. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.",
+      "DisplayName": "Board Orientation",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "Yaw45",
+        "10": "Yaw90Roll180",
+        "100": "Custom 4.1 and older",
+        "101": "Custom 1",
+        "102": "Custom 2",
+        "11": "Yaw135Roll180",
+        "12": "Pitch180",
+        "13": "Yaw225Roll180",
+        "14": "Yaw270Roll180",
+        "15": "Yaw315Roll180",
+        "16": "Roll90",
+        "17": "Yaw45Roll90",
+        "18": "Yaw90Roll90",
+        "19": "Yaw135Roll90",
+        "2": "Yaw90",
+        "20": "Roll270",
+        "21": "Yaw45Roll270",
+        "22": "Yaw90Roll270",
+        "23": "Yaw135Roll270",
+        "24": "Pitch90",
+        "25": "Pitch270",
+        "26": "Yaw90Pitch180",
+        "27": "Yaw270Pitch180",
+        "28": "Pitch90Roll90",
+        "29": "Pitch90Roll180",
+        "3": "Yaw135",
+        "30": "Pitch90Roll270",
+        "31": "Pitch180Roll90",
+        "32": "Pitch180Roll270",
+        "33": "Pitch270Roll90",
+        "34": "Pitch270Roll180",
+        "35": "Pitch270Roll270",
+        "36": "Yaw90Pitch180Roll90",
+        "37": "Yaw270Roll90",
+        "38": "Yaw293Pitch68Roll180",
+        "39": "Pitch315",
+        "4": "Yaw180",
+        "40": "Pitch315Roll90",
+        "42": "Roll45",
+        "43": "Roll315",
+        "5": "Yaw225",
+        "6": "Yaw270",
+        "7": "Yaw315",
+        "8": "Roll180",
+        "9": "Yaw45Roll180"
+      }
+    },
+    "AHRS_RP_P": {
+      "Description": "This controls how fast the accelerometers correct the attitude",
+      "DisplayName": "AHRS RP_P",
+      "Increment": ".01",
       "Range": {
-        "high": "200",
-        "low": "100"
+        "high": "0.4",
+        "low": "0.1"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "BATT_SOC2_C2": {
-      "Description": "Battery estimator coefficient2",
-      "DisplayName": "Battery estimator coefficient2",
+    "AHRS_TRIM_X": {
+      "Description": "Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.",
+      "DisplayName": "AHRS Trim Roll",
+      "Increment": "0.01",
       "Range": {
-        "high": "5",
-        "low": "2"
+        "high": "+0.1745",
+        "low": "-0.1745"
       },
+      "Units": "rad",
       "User": "Standard"
     },
-    "BATT_SOC2_C3": {
-      "Description": "Battery estimator coefficient3",
-      "DisplayName": "Battery estimator coefficient3",
+    "AHRS_TRIM_Y": {
+      "Description": "Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.",
+      "DisplayName": "AHRS Trim Pitch",
+      "Increment": "0.01",
       "Range": {
-        "high": "0.5",
-        "low": "0.01"
+        "high": "+0.1745",
+        "low": "-0.1745"
       },
+      "Units": "rad",
       "User": "Standard"
     },
-    "BATT_SOC2_IDX": {
-      "Description": "Battery estimator index",
-      "DisplayName": "Battery estimator index",
+    "AHRS_TRIM_Z": {
+      "Description": "Not Used",
+      "DisplayName": "AHRS Trim Yaw",
+      "Increment": "0.01",
       "Range": {
-        "high": "4",
-        "low": "0"
+        "high": "+0.1745",
+        "low": "-0.1745"
       },
-      "User": "Standard"
+      "Units": "rad",
+      "User": "Advanced"
     },
-    "BATT_SOC2_NCELL": {
-      "Description": "Battery estimator cell count",
-      "DisplayName": "Battery estimator cell count",
+    "AHRS_WIND_MAX": {
+      "Description": "This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.",
+      "DisplayName": "Maximum wind",
+      "Increment": "1",
       "Range": {
-        "high": "48",
+        "high": "127",
         "low": "0"
       },
-      "User": "Standard"
+      "Units": "m/s",
+      "User": "Advanced"
     },
-    "BATT_SOC3_C1": {
-      "Description": "Battery estimator coefficient1",
-      "DisplayName": "Battery estimator coefficient1",
+    "AHRS_YAW_P": {
+      "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.",
+      "DisplayName": "Yaw P",
+      "Increment": ".01",
       "Range": {
-        "high": "200",
-        "low": "100"
+        "high": "0.4",
+        "low": "0.1"
       },
-      "User": "Standard"
-    },
-    "BATT_SOC3_C2": {
-      "Description": "Battery estimator coefficient2",
-      "DisplayName": "Battery estimator coefficient2",
+      "User": "Advanced"
+    }
+  },
+  "AIS_": {
+    "AIS_LIST_MAX": {
+      "Description": "AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.",
+      "DisplayName": "AIS vessel list size",
       "Range": {
-        "high": "5",
-        "low": "2"
+        "high": "100",
+        "low": "1"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "BATT_SOC3_C3": {
-      "Description": "Battery estimator coefficient3",
-      "DisplayName": "Battery estimator coefficient3",
-      "Range": {
-        "high": "0.5",
-        "low": "0.01"
+    "AIS_LOGGING": {
+      "Bitmask": {
+        "0": "Log all AIVDM messages",
+        "1": "Log only unsupported AIVDM messages",
+        "2": "Log decoded messages"
       },
-      "User": "Standard"
+      "Description": "Bitmask of AIS logging options",
+      "DisplayName": "AIS logging options",
+      "User": "Advanced"
     },
-    "BATT_SOC3_IDX": {
-      "Description": "Battery estimator index",
-      "DisplayName": "Battery estimator index",
+    "AIS_TIME_OUT": {
+      "Description": "if no updates are received in this time a vessel will be removed from the list",
+      "DisplayName": "AIS vessel time out",
       "Range": {
-        "high": "4",
-        "low": "0"
+        "high": "2000",
+        "low": "1"
       },
-      "User": "Standard"
+      "Units": "s",
+      "User": "Advanced"
     },
-    "BATT_SOC3_NCELL": {
-      "Description": "Battery estimator cell count",
-      "DisplayName": "Battery estimator cell count",
+    "AIS_TYPE": {
+      "Description": "AIS receiver type",
+      "DisplayName": "AIS receiver type",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "1": "NMEA AIVDM message"
+      }
+    }
+  },
+  "ARMING_": {
+    "ARMING_ACCTHRESH": {
+      "Description": "Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.",
+      "DisplayName": "Accelerometer error threshold",
       "Range": {
-        "high": "48",
-        "low": "0"
+        "high": "3.0",
+        "low": "0.25"
       },
-      "User": "Standard"
+      "Units": "m/s/s",
+      "User": "Advanced"
     },
-    "BATT_SOC4_C1": {
-      "Description": "Battery estimator coefficient1",
-      "DisplayName": "Battery estimator coefficient1",
-      "Range": {
-        "high": "200",
-        "low": "100"
+    "ARMING_CHECK": {
+      "Bitmask": {
+        "0": "All",
+        "1": "Barometer",
+        "10": "Logging Available",
+        "11": "Hardware safety switch",
+        "12": "GPS Configuration",
+        "13": "System",
+        "14": "Mission",
+        "15": "Rangefinder",
+        "16": "Camera",
+        "17": "AuxAuth",
+        "18": "VisualOdometry",
+        "19": "FFT",
+        "2": "Compass",
+        "3": "GPS lock",
+        "4": "INS",
+        "5": "Parameters",
+        "6": "RC Channels",
+        "7": "Board voltage",
+        "8": "Battery Level"
       },
+      "Description": "Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). 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 no RC failsafe you would set ARMING_CHECK to 72.",
+      "DisplayName": "Arm Checks to Perform (bitmask)",
       "User": "Standard"
     },
-    "BATT_SOC4_C2": {
-      "Description": "Battery estimator coefficient2",
-      "DisplayName": "Battery estimator coefficient2",
-      "Range": {
-        "high": "5",
-        "low": "2"
-      },
-      "User": "Standard"
-    },
-    "BATT_SOC4_C3": {
-      "Description": "Battery estimator coefficient3",
-      "DisplayName": "Battery estimator coefficient3",
-      "Range": {
-        "high": "0.5",
-        "low": "0.01"
-      },
-      "User": "Standard"
-    },
-    "BATT_SOC4_IDX": {
-      "Description": "Battery estimator index",
-      "DisplayName": "Battery estimator index",
-      "Range": {
-        "high": "4",
-        "low": "0"
-      },
-      "User": "Standard"
-    },
-    "BATT_SOC4_NCELL": {
-      "Description": "Battery estimator cell count",
-      "DisplayName": "Battery estimator cell count",
+    "ARMING_MAGTHRESH": {
+      "Description": "Compass magnetic field strength error threshold vs earth magnetic model.  X and y axis are compared using this threhold, Z axis uses 2x this threshold.  0 to disable check",
+      "DisplayName": "Compass magnetic field strength error threshold vs earth magnetic model",
       "Range": {
-        "high": "48",
+        "high": "500",
         "low": "0"
       },
-      "User": "Standard"
+      "Units": "mGauss",
+      "User": "Advanced"
     },
-    "BATT_SOC_COUNT": {
-      "Description": "Number of battery SOC estimators",
-      "DisplayName": "Count of SOC estimators",
-      "Range": {
-        "high": "4",
-        "low": "0"
+    "ARMING_MIS_ITEMS": {
+      "Bitmask": {
+        "0": "Land",
+        "1": "VTOL Land",
+        "2": "DO_LAND_START",
+        "3": "Takeoff",
+        "4": "VTOL Takeoff",
+        "5": "Rallypoint",
+        "6": "RTL"
       },
-      "User": "Standard"
+      "Description": "Bitmask of mission items that are required to be planned in order to arm the aircraft",
+      "DisplayName": "Required mission items",
+      "User": "Advanced"
     },
-    "DJIR_DEBUG": {
-      "Description": "Enable DJIRS2 debug",
-      "DisplayName": "DJIRS2 debug",
+    "ARMING_OPTIONS": {
+      "Description": "Options that can be applied to change arming behaviour",
+      "DisplayName": "Arming options",
       "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled",
-        "2": "Enabled with attitude reporting"
+        "0": "None",
+        "1": "Disable prearm display",
+        "2": "Do not send status text on state change"
       }
     },
-    "DJIR_UPSIDEDOWN": {
-      "Description": "DJIRS2 upside down",
-      "DisplayName": "DJIRS2 upside down",
-      "User": "Standard",
+    "ARMING_RUDDER": {
+      "Description": "Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!",
+      "DisplayName": "Arming with Rudder enable/disable",
+      "User": "Advanced",
       "Values": {
-        "0": "Right side up",
-        "1": "Upside down"
+        "0": "Disabled",
+        "1": "ArmingOnly",
+        "2": "ArmOrDisarm"
       }
-    },
-    "DR_ENABLE": {
-      "Description": "Deadreckoning Enable",
-      "DisplayName": "Deadreckoning Enable",
+    }
+  },
+  "ARSPD": {
+    "ARSPD_ENABLE": {
+      "Description": "Enable airspeed sensor support",
+      "DisplayName": "Airspeed Enable",
       "User": "Standard",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "Disable",
+        "1": "Enable"
       }
     },
-    "DR_ENABLE_DIST": {
-      "Description": "Distance from home (in meters) beyond which the dead reckoning will be enabled",
-      "DisplayName": "Deadreckoning Enable Distance",
-      "Units": "m",
-      "User": "Standard"
-    },
-    "DR_FLY_ALT_MIN": {
-      "Description": "Copter will fly at at least this altitude (in meters) above home during deadreckoning",
-      "DisplayName": "Deadreckoning Altitude Min",
-      "Range": {
-        "high": "1000",
-        "low": "0"
-      },
-      "Units": "m",
-      "User": "Standard"
-    },
-    "DR_FLY_ANGLE": {
-      "Description": "lean angle (in degrees) during deadreckoning",
-      "DisplayName": "Deadreckoning Lean Angle",
-      "Range": {
-        "high": "45",
-        "low": "0"
-      },
-      "Units": "deg",
-      "User": "Standard"
-    },
-    "DR_FLY_TIMEOUT": {
-      "Description": "Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning.  If it cannot switch modes it will continue in Guided_NoGPS.  Set to 0 to disable timeout",
-      "DisplayName": "Deadreckoning flight timeout",
-      "Units": "s",
-      "User": "Standard"
-    },
-    "DR_GPS_SACC_MAX": {
-      "Description": "GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8).  Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy",
-      "DisplayName": "Deadreckoning GPS speed accuracy maximum threshold",
+    "ARSPD_OFF_PCNT": {
+      "Description": "The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.",
+      "DisplayName": "Maximum offset cal speed error ",
       "Range": {
-        "high": "10",
-        "low": "0"
+        "high": "10.0",
+        "low": "0.0"
       },
-      "User": "Standard"
+      "Units": "%",
+      "User": "Advanced"
     },
-    "DR_GPS_SAT_MIN": {
-      "Description": "GPS satellite count threshold below which deadreckoning home will begin (default is 6).  Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count",
-      "DisplayName": "Deadreckoning GPS satellite count min threshold",
-      "Range": {
-        "high": "30",
-        "low": "0"
+    "ARSPD_OPTIONS": {
+      "Bitmask": {
+        "0": "SpeedMismatchDisable",
+        "1": "AllowSpeedMismatchRecovery",
+        "2": "DisableVoltageCorrection",
+        "3": "UseEkf3Consistency"
       },
-      "User": "Standard"
-    },
-    "DR_GPS_TRIGG_SEC": {
-      "Description": "GPS checks must fail for this many seconds before dead reckoning will be triggered",
-      "DisplayName": "Deadreckoning GPS check trigger seconds",
-      "Units": "s",
-      "User": "Standard"
+      "Description": "This parameter and function is not used by this vehicle. Always set to 0.",
+      "DisplayName": "Airspeed options bitmask",
+      "User": "Advanced"
     },
-    "DR_NEXT_MODE": {
-      "Description": "Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed.  Default is 6/RTL.  Set to -1 to return to mode used before deadreckoning was triggered",
-      "DisplayName": "Deadreckoning Next Mode",
-      "User": "Standard",
+    "ARSPD_PRIMARY": {
+      "Description": "This selects which airspeed sensor will be the primary if multiple sensors are found",
+      "DisplayName": "Primary airspeed sensor",
+      "User": "Advanced",
       "Values": {
-        "16": "PosHold",
-        "17": "Brake",
-        "2": "AltHold",
-        "20": "Guided_NoGPS",
-        "21": "Smart_RTL",
-        "27": "Auto RTL",
-        "3": "Auto",
-        "4": "Guided",
-        "5": "Loiter",
-        "6": "RTL",
-        "7": "Circle",
-        "9": "Land"
+        "0": "FirstSensor",
+        "1": "2ndSensor"
       }
     },
-    "EFI_DLA_ENABLE": {
-      "Description": "Enable EFI DLA driver",
-      "DisplayName": "EFI DLA enable",
-      "User": "Standard",
+    "ARSPD_TUBE_ORDER": {
+      "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 first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.",
+      "DisplayName": "Control pitot tube order",
+      "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "Normal",
+        "1": "Swapped",
+        "2": "Auto Detect"
       }
     },
-    "EFI_DLA_LPS": {
-      "Description": "EFI DLA litres of fuel per second of injection time",
-      "DisplayName": "EFI DLA fuel scale",
+    "ARSPD_WIND_GATE": {
+      "Description": "This parameter and function is not used by this vehicle.",
+      "DisplayName": "Re-enable Consistency Check Gate Size",
       "Range": {
-        "high": "1",
-        "low": "0.00001"
+        "high": "10.0",
+        "low": "0.0"
       },
-      "Units": "litres",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "EFI_H6K_CANDRV": {
-      "Description": "Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver",
-      "DisplayName": "Halo6000 CAN driver",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "FirstCAN",
-        "2": "SecondCAN"
-      }
+    "ARSPD_WIND_MAX": {
+      "Description": "This parameter and function is not used by this vehicle. Always set to 0.",
+      "DisplayName": "Maximum airspeed and ground speed difference",
+      "Units": "m/s",
+      "User": "Advanced"
     },
-    "EFI_H6K_ENABLE": {
-      "Description": "Enable Halo6000 EFI driver",
-      "DisplayName": "Enable Halo6000 EFI driver",
-      "User": "Standard",
+    "ARSPD_WIND_WARN": {
+      "Description": "This parameter and function is not used by this vehicle. Always set to 0.",
+      "DisplayName": "Airspeed and GPS speed difference that gives a warning",
+      "Units": "m/s",
+      "User": "Advanced"
+    }
+  },
+  "ARSPD2_": {
+    "ARSPD2_AUTOCAL": {
+      "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.",
+      "DisplayName": "This parameter and function is not used by this vehicle. Always set to 0.",
+      "User": "Advanced"
+    },
+    "ARSPD2_BUS": {
+      "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.",
+      "DisplayName": "Airspeed I2C bus",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "Bus0",
+        "1": "Bus1",
+        "2": "Bus2"
       }
     },
-    "EFI_H6K_FUELTOT": {
-      "Description": "The capacity of the tank in litres",
-      "DisplayName": "Halo6000 total fuel capacity",
-      "Units": "litres",
-      "User": "Standard"
-    },
-    "EFI_H6K_START_FN": {
-      "Description": "The RC auxilliary function number for start/stop of the generator. Zero to disable start function",
-      "DisplayName": "Halo6000 start auxilliary function",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "300": "300",
-        "301": "301",
-        "302": "302",
-        "303": "303",
-        "304": "304",
-        "305": "305",
-        "306": "306",
-        "307": "307"
-      }
+    "ARSPD2_DEVID": {
+      "Description": "Airspeed sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Airspeed ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
     },
-    "EFI_H6K_TELEM_RT": {
-      "Description": "The rate that additional generator telemetry is sent",
-      "DisplayName": "Halo6000 telemetry rate",
-      "Units": "Hz",
-      "User": "Standard"
+    "ARSPD2_OFFSET": {
+      "Description": "Airspeed calibration offset",
+      "DisplayName": "Airspeed offset",
+      "Increment": "0.1",
+      "User": "Advanced"
     },
-    "EFI_INF_ENABLE": {
-      "Description": "Enable EFI INF-Inject driver",
-      "DisplayName": "EFI INF-Inject enable",
-      "User": "Standard",
+    "ARSPD2_PIN": {
+      "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. ",
+      "DisplayName": "Airspeed pin",
+      "User": "Advanced"
+    },
+    "ARSPD2_PSI_RANGE": {
+      "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device",
+      "DisplayName": "The PSI range of the device",
+      "User": "Advanced"
+    },
+    "ARSPD2_RATIO": {
+      "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.",
+      "DisplayName": "Airspeed ratio",
+      "Increment": "0.1",
+      "User": "Advanced"
+    },
+    "ARSPD2_SKIP_CAL": {
+      "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.",
+      "DisplayName": "Skip airspeed offset calibration on startup",
+      "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "Disable",
+        "1": "Enable"
       }
     },
-    "EFI_SP_CANDRV": {
-      "Description": "Set SkyPower EFI CAN driver",
-      "DisplayName": "Set SkyPower EFI CAN driver",
-      "User": "Standard",
+    "ARSPD2_TUBE_ORDR": {
+      "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 first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.",
+      "DisplayName": "Control pitot tube order",
+      "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "1stCANDriver",
-        "2": "2ndCanDriver"
+        "0": "Normal",
+        "1": "Swapped",
+        "2": "Auto Detect"
       }
     },
-    "EFI_SP_ENABLE": {
-      "Description": "Enable SkyPower EFI support",
-      "DisplayName": "Enable SkyPower EFI support",
+    "ARSPD2_TYPE": {
+      "Description": "Type of airspeed sensor",
+      "DisplayName": "Airspeed type",
       "User": "Standard",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "None",
+        "1": "I2C-MS4525D0",
+        "10": "I2C-DLVR-20in",
+        "100": "SITL",
+        "11": "I2C-DLVR-30in",
+        "12": "I2C-DLVR-60in",
+        "13": "NMEA water speed",
+        "14": "MSP",
+        "15": "ASP5033",
+        "16": "ExternalAHRS",
+        "2": "Analog",
+        "3": "I2C-MS5525",
+        "4": "I2C-MS5525 (0x76)",
+        "5": "I2C-MS5525 (0x77)",
+        "6": "I2C-SDP3X",
+        "7": "I2C-DLVR-5in",
+        "8": "DroneCAN",
+        "9": "I2C-DLVR-10in"
       }
     },
-    "EFI_SP_GEN_CTRL": {
-      "Description": "SkyPower EFI enable generator control",
-      "DisplayName": "SkyPower EFI enable generator control",
+    "ARSPD2_USE": {
+      "Description": "This parameter is not used by this vehicle. Always set to 0.",
+      "DisplayName": "Airspeed use",
       "User": "Standard",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "DoNotUse",
+        "1": "Use",
+        "2": "UseWhenZeroThrottle"
       }
+    }
+  },
+  "ARSPD_": {
+    "ARSPD_AUTOCAL": {
+      "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.",
+      "DisplayName": "This parameter and function is not used by this vehicle. Always set to 0.",
+      "User": "Advanced"
     },
-    "EFI_SP_GEN_FN": {
-      "Description": "SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop",
-      "DisplayName": "SkyPower EFI generator control function",
-      "User": "Standard",
+    "ARSPD_BUS": {
+      "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.",
+      "DisplayName": "Airspeed I2C bus",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "300": "300",
-        "301": "301",
-        "302": "302",
-        "303": "303",
-        "304": "304",
-        "305": "305",
-        "306": "306",
-        "307": "307"
+        "0": "Bus0",
+        "1": "Bus1",
+        "2": "Bus2"
       }
     },
-    "EFI_SP_LOG_RT": {
-      "Description": "SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed",
-      "DisplayName": "SkyPower EFI log rate",
-      "Range": {
-        "high": "50",
-        "low": "1"
-      },
-      "Units": "Hz",
+    "ARSPD_DEVID": {
+      "Description": "Airspeed sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Airspeed ID",
+      "ReadOnly": "True",
       "User": "Advanced"
     },
-    "EFI_SP_MIN_RPM": {
-      "Description": "SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped",
-      "DisplayName": "SkyPower EFI minimum RPM",
-      "Range": {
-        "high": "1000",
-        "low": "1"
-      },
+    "ARSPD_OFFSET": {
+      "Description": "Airspeed calibration offset",
+      "DisplayName": "Airspeed offset",
+      "Increment": "0.1",
       "User": "Advanced"
     },
-    "EFI_SP_MODEL": {
-      "Description": "SkyPower EFI ECU model",
-      "DisplayName": "SkyPower EFI ECU model",
-      "User": "Standard",
+    "ARSPD_PIN": {
+      "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. ",
+      "DisplayName": "Airspeed pin",
+      "User": "Advanced"
+    },
+    "ARSPD_PSI_RANGE": {
+      "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device",
+      "DisplayName": "The PSI range of the device",
+      "User": "Advanced"
+    },
+    "ARSPD_RATIO": {
+      "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.",
+      "DisplayName": "Airspeed ratio",
+      "Increment": "0.1",
+      "User": "Advanced"
+    },
+    "ARSPD_SKIP_CAL": {
+      "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.",
+      "DisplayName": "Skip airspeed offset calibration on startup",
+      "User": "Advanced",
       "Values": {
-        "0": "Default",
-        "1": "SP_275"
+        "0": "Disable",
+        "1": "Enable"
       }
     },
-    "EFI_SP_RST_TIME": {
-      "Description": "SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.",
-      "DisplayName": "SkyPower EFI restart time",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "Units": "s",
-      "User": "Standard"
-    },
-    "EFI_SP_START_FN": {
-      "Description": "SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start",
-      "DisplayName": "SkyPower EFI start function",
-      "User": "Standard",
+    "ARSPD_TUBE_ORDR": {
+      "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 first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.",
+      "DisplayName": "Control pitot tube order",
+      "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "300": "300",
-        "301": "301",
-        "302": "302",
-        "303": "303",
-        "304": "304",
-        "305": "305",
-        "306": "306",
-        "307": "307"
+        "0": "Normal",
+        "1": "Swapped",
+        "2": "Auto Detect"
       }
     },
-    "EFI_SP_ST_DISARM": {
-      "Description": "SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed",
-      "DisplayName": "SkyPower EFI allow start disarmed",
+    "ARSPD_TYPE": {
+      "Description": "Type of airspeed sensor",
+      "DisplayName": "Airspeed type",
       "User": "Standard",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "None",
+        "1": "I2C-MS4525D0",
+        "10": "I2C-DLVR-20in",
+        "100": "SITL",
+        "11": "I2C-DLVR-30in",
+        "12": "I2C-DLVR-60in",
+        "13": "NMEA water speed",
+        "14": "MSP",
+        "15": "ASP5033",
+        "16": "ExternalAHRS",
+        "2": "Analog",
+        "3": "I2C-MS5525",
+        "4": "I2C-MS5525 (0x76)",
+        "5": "I2C-MS5525 (0x77)",
+        "6": "I2C-SDP3X",
+        "7": "I2C-DLVR-5in",
+        "8": "DroneCAN",
+        "9": "I2C-DLVR-10in"
       }
     },
-    "EFI_SP_THR_FN": {
-      "Description": "SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control",
-      "DisplayName": "SkyPower EFI throttle function",
+    "ARSPD_USE": {
+      "Description": "This parameter is not used by this vehicle. Always set to 0.",
+      "DisplayName": "Airspeed use",
       "User": "Standard",
       "Values": {
-        "0": "Disabled",
-        "31": "HeliRSC",
-        "70": "FixedWing"
+        "0": "DoNotUse",
+        "1": "Use",
+        "2": "UseWhenZeroThrottle"
       }
-    },
-    "EFI_SP_THR_RATE": {
-      "Description": "SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine",
-      "DisplayName": "SkyPower EFI throttle rate",
-      "Range": {
-        "high": "100",
-        "low": "10"
-      },
-      "Units": "Hz",
-      "User": "Advanced"
-    },
-    "EFI_SP_TLM_RT": {
-      "Description": "SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS",
-      "DisplayName": "SkyPower EFI telemetry rate",
+    }
+  },
+  "ATC_": {
+    "ATC_ACCEL_P_MAX": {
+      "Description": "Maximum acceleration in pitch axis",
+      "DisplayName": "Acceleration Max for Pitch",
+      "Increment": "1000",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "180000",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Advanced"
+      "Units": "cdeg/s/s",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "108000": "Medium",
+        "162000": "Fast",
+        "30000": "VerySlow",
+        "72000": "Slow"
+      }
     },
-    "EFI_SP_UPDATE_HZ": {
-      "Description": "SkyPower EFI update rate",
-      "DisplayName": "SkyPower EFI update rate",
+    "ATC_ACCEL_R_MAX": {
+      "Description": "Maximum acceleration in roll axis",
+      "DisplayName": "Acceleration Max for Roll",
+      "Increment": "1000",
       "Range": {
-        "high": "200",
-        "low": "10"
+        "high": "180000",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Advanced"
-    },
-    "EFI_SVF_ARMCHECK": {
-      "Description": "Check for Generator ARM state before arming",
-      "DisplayName": "Generator SVFFI arming check",
-      "User": "Standard",
+      "Units": "cdeg/s/s",
+      "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "108000": "Medium",
+        "162000": "Fast",
+        "30000": "VerySlow",
+        "72000": "Slow"
       }
     },
-    "EFI_SVF_ENABLE": {
-      "Description": "Enable SVFFI generator support",
-      "DisplayName": "Generator SVFFI enable",
-      "User": "Standard",
+    "ATC_ACCEL_Y_MAX": {
+      "Description": "Maximum acceleration in yaw axis",
+      "DisplayName": "Acceleration Max for Yaw",
+      "Increment": "1000",
+      "Range": {
+        "high": "72000",
+        "low": "0"
+      },
+      "Units": "cdeg/s/s",
+      "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "18000": "Slow",
+        "36000": "Medium",
+        "54000": "Fast",
+        "9000": "VerySlow"
       }
     },
-    "ESC_HW_ENABLE": {
-      "Description": "Enable Hobbywing ESC telemetry",
-      "DisplayName": "Hobbywing ESC Enable",
-      "User": "Standard",
+    "ATC_ANGLE_BOOST": {
+      "Description": "Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude",
+      "DisplayName": "Angle Boost",
+      "User": "Advanced",
       "Values": {
         "0": "Disabled",
         "1": "Enabled"
       }
     },
-    "ESC_HW_OFS": {
-      "Description": "Motor number offset of first ESC",
-      "DisplayName": "Hobbywing ESC motor offset",
+    "ATC_ANG_LIM_TC": {
+      "Description": "Angle Limit (to maintain altitude) Time Constant",
+      "DisplayName": "Angle Limit (to maintain altitude) Time Constant",
       "Range": {
-        "high": "31",
-        "low": "0"
+        "high": "10.0",
+        "low": "0.5"
+      },
+      "User": "Advanced"
+    },
+    "ATC_ANG_PIT_P": {
+      "Description": "Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate",
+      "DisplayName": "Pitch axis angle controller P gain",
+      "Range": {
+        "high": "12.000",
+        "low": "0.0"
       },
       "User": "Standard"
     },
-    "ESC_HW_POLES": {
-      "Description": "Number of motor poles for eRPM scaling",
-      "DisplayName": "Hobbywing ESC motor poles",
+    "ATC_ANG_RLL_P": {
+      "Description": "Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate",
+      "DisplayName": "Roll axis angle controller P gain",
       "Range": {
-        "high": "50",
-        "low": "1"
+        "high": "12.000",
+        "low": "0.0"
       },
       "User": "Standard"
     },
-    "POI_DIST_MAX": {
-      "Description": "POI's max distance (in meters) from the vehicle",
-      "DisplayName": "Mount POI distance max",
+    "ATC_ANG_YAW_P": {
+      "Description": "Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate",
+      "DisplayName": "Yaw axis angle controller P gain",
       "Range": {
-        "high": "10000",
-        "low": "0"
+        "high": "6.000",
+        "low": "0.0"
       },
       "User": "Standard"
     },
-    "PREV_ENABLE": {
-      "Description": "Enable parameter reversion system",
-      "DisplayName": "parameter reversion enable",
+    "ATC_INPUT_TC": {
+      "Description": "Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response",
+      "DisplayName": "Attitude control input time constant",
+      "Increment": "0.01",
+      "Range": {
+        "high": "1",
+        "low": "0"
+      },
+      "Units": "s",
       "User": "Standard",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0.05": "Very Crisp",
+        "0.1": "Crisp",
+        "0.15": "Medium",
+        "0.2": "Soft",
+        "0.5": "Very Soft"
       }
     },
-    "PREV_RC_FUNC": {
-      "Description": "RCn_OPTION number to used to trigger parameter reversion",
-      "DisplayName": "param reversion RC function",
-      "User": "Standard"
-    },
-    "QUIK_AUTO_FILTER": {
-      "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER",
-      "DisplayName": "Quicktune auto filter enable",
-      "User": "Standard",
+    "ATC_RATE_FF_ENAB": {
+      "Description": "Controls whether body-frame rate feedforward is enabled or disabled",
+      "DisplayName": "Rate Feedforward Enable",
+      "User": "Advanced",
       "Values": {
         "0": "Disabled",
         "1": "Enabled"
       }
     },
-    "QUIK_AUTO_SAVE": {
-      "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune",
-      "DisplayName": "Quicktune auto save",
-      "Units": "s",
-      "User": "Standard"
-    },
-    "QUIK_AXES": {
-      "Bitmask": {
-        "0": "Roll",
-        "1": "Pitch",
-        "2": "Yaw"
-      },
-      "Description": "axes to tune",
-      "DisplayName": "Quicktune axes",
-      "User": "Standard"
-    },
-    "QUIK_DOUBLE_TIME": {
-      "Description": "Time to double a tuning parameter. Raise this for a slower tune.",
-      "DisplayName": "Quicktune doubling time",
+    "ATC_RATE_P_MAX": {
+      "Description": "Maximum angular velocity in pitch axis",
+      "DisplayName": "Angular Velocity Max for Pitch",
+      "Increment": "1",
       "Range": {
-        "high": "20",
-        "low": "5"
+        "high": "1080",
+        "low": "0"
       },
-      "Units": "s",
-      "User": "Standard"
-    },
-    "QUIK_ENABLE": {
-      "Description": "Enable quicktune system",
-      "DisplayName": "Quicktune enable",
-      "User": "Standard",
+      "Units": "deg/s",
+      "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "180": "Medium",
+        "360": "Fast",
+        "60": "Slow"
       }
     },
-    "QUIK_GAIN_MARGIN": {
-      "Description": "Reduction in gain after oscillation detected. Raise this number to get a more conservative tune",
-      "DisplayName": "Quicktune gain margin",
+    "ATC_RATE_R_MAX": {
+      "Description": "Maximum angular velocity in roll axis",
+      "DisplayName": "Angular Velocity Max for Roll",
+      "Increment": "1",
       "Range": {
-        "high": "80",
-        "low": "20"
+        "high": "1080",
+        "low": "0"
       },
-      "Units": "%",
-      "User": "Standard"
+      "Units": "deg/s",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "180": "Medium",
+        "360": "Fast",
+        "60": "Slow"
+      }
     },
-    "QUIK_MAX_REDUCE": {
-      "Description": "This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.",
-      "DisplayName": "Quicktune maximum gain reduction",
+    "ATC_RATE_Y_MAX": {
+      "Description": "Maximum angular velocity in yaw axis",
+      "DisplayName": "Angular Velocity Max for Yaw",
+      "Increment": "1",
       "Range": {
-        "high": "100",
+        "high": "1080",
         "low": "0"
       },
-      "Units": "%",
-      "User": "Standard"
-    },
-    "QUIK_OPTIONS": {
-      "Bitmask": {
-        "0": "UseTwoPositionSwitch"
-      },
-      "Description": "Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.",
-      "DisplayName": "Quicktune options",
-      "User": "Standard"
+      "Units": "deg/s",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "180": "Medium",
+        "360": "Fast",
+        "60": "Slow"
+      }
     },
-    "QUIK_OSC_SMAX": {
-      "Description": "Threshold for oscillation detection. A lower value will lead to a more conservative tune.",
-      "DisplayName": "Quicktune oscillation rate threshold",
+    "ATC_RAT_PIT_D": {
+      "Description": "Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate",
+      "DisplayName": "Pitch axis rate controller D gain",
+      "Increment": "0.001",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "0.02",
+        "low": "0.0"
       },
       "User": "Standard"
     },
-    "QUIK_RC_FUNC": {
-      "Description": "RCn_OPTION number to use to control tuning stop/start/save",
-      "DisplayName": "Quicktune RC function",
-      "User": "Standard"
+    "ATC_RAT_PIT_D_FF": {
+      "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target",
+      "DisplayName": "Pitch Derivative FeedForward Gain",
+      "Increment": "0.0001",
+      "Range": {
+        "high": "0.02",
+        "low": "0"
+      },
+      "User": "Advanced"
     },
-    "QUIK_RP_PI_RATIO": {
-      "Description": "Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain",
-      "DisplayName": "Quicktune roll/pitch PI ratio",
+    "ATC_RAT_PIT_FF": {
+      "Description": "Pitch axis rate controller feed forward",
+      "DisplayName": "Pitch axis rate controller feed forward",
+      "Increment": "0.001",
       "Range": {
-        "high": "1.0",
-        "low": "0.5"
+        "high": "0.5",
+        "low": "0"
       },
       "User": "Standard"
     },
-    "QUIK_YAW_D_MAX": {
-      "Description": "Maximum value for yaw D gain",
-      "DisplayName": "Quicktune Yaw D max",
+    "ATC_RAT_PIT_FILT": {
+      "Description": "Pitch axis rate controller input frequency in Hz",
+      "DisplayName": "Pitch axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "1",
-        "low": "0.001"
+        "high": "100",
+        "low": "1"
       },
+      "Units": "Hz",
       "User": "Standard"
     },
-    "QUIK_YAW_P_MAX": {
-      "Description": "Maximum value for yaw P gain",
-      "DisplayName": "Quicktune Yaw P max",
+    "ATC_RAT_PIT_FLTD": {
+      "Description": "Pitch axis rate controller input frequency in Hz",
+      "DisplayName": "Pitch axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "3",
-        "low": "0.1"
+        "high": "100",
+        "low": "1"
       },
+      "Units": "Hz",
       "User": "Standard"
     },
-    "QUIK_Y_PI_RATIO": {
-      "Description": "Ratio between P and I gains for yaw. Raise this to get a lower I gain",
-      "DisplayName": "Quicktune Yaw PI ratio",
+    "ATC_RAT_PIT_FLTE": {
+      "Description": "Pitch axis rate controller input frequency in Hz",
+      "DisplayName": "Pitch axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "20",
-        "low": "0.5"
+        "high": "100",
+        "low": "1"
       },
+      "Units": "Hz",
       "User": "Standard"
     },
-    "RCK_DEBUG": {
-      "Description": "Sends Rockblock debug text to GCS via statustexts",
-      "DisplayName": "Display Rockblock debugging text",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "RCK_ENABLE": {
-      "Description": "Enables the Rockblock sending and recieving",
-      "DisplayName": "Enable Message transmission",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
+    "ATC_RAT_PIT_FLTT": {
+      "Description": "Pitch axis rate controller input frequency in Hz",
+      "DisplayName": "Pitch axis rate controller input frequency in Hz",
+      "Increment": "1",
+      "Range": {
+        "high": "100",
+        "low": "1"
+      },
+      "Units": "Hz",
+      "User": "Standard"
     },
-    "RCK_FORCEHL": {
-      "Description": "Automatically enables High Latency mode if not already enabled",
-      "DisplayName": "Force enable High Latency mode",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
+    "ATC_RAT_PIT_I": {
+      "Description": "Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate",
+      "DisplayName": "Pitch axis rate controller I gain",
+      "Increment": "0.01",
+      "Range": {
+        "high": "0.5",
+        "low": "0.0"
+      },
+      "User": "Standard"
     },
-    "RCK_PERIOD": {
-      "Description": "When in High Latency mode, send Rockblock updates every N seconds",
-      "DisplayName": "Update rate",
+    "ATC_RAT_PIT_IMAX": {
+      "Description": "Pitch axis rate controller I gain maximum.  Constrains the maximum that the I term will output",
+      "DisplayName": "Pitch axis rate controller I gain maximum",
+      "Increment": "0.01",
       "Range": {
-        "high": "600",
+        "high": "1",
         "low": "0"
       },
-      "Units": "s",
       "User": "Standard"
     },
-    "RTUN_AUTO_FILTER": {
-      "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER",
-      "DisplayName": "Rover Quicktune auto filter enable",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
+    "ATC_RAT_PIT_NEF": {
+      "Description": "Pitch Error notch filter index",
+      "DisplayName": "Pitch Error notch filter index",
+      "Range": {
+        "high": "8",
+        "low": "1"
+      },
+      "User": "Advanced"
     },
-    "RTUN_AUTO_SAVE": {
-      "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune",
-      "DisplayName": "Rover Quicktune auto save",
-      "Units": "s",
-      "User": "Standard"
+    "ATC_RAT_PIT_NTF": {
+      "Description": "Pitch Target notch filter index",
+      "DisplayName": "Pitch Target notch filter index",
+      "Range": {
+        "high": "8",
+        "low": "1"
+      },
+      "User": "Advanced"
     },
-    "RTUN_AXES": {
-      "Bitmask": {
-        "0": "Steering",
-        "1": "Speed"
+    "ATC_RAT_PIT_P": {
+      "Description": "Pitch axis rate controller P gain.  Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate",
+      "DisplayName": "Pitch axis rate controller P gain",
+      "Increment": "0.005",
+      "Range": {
+        "high": "0.30",
+        "low": "0.0"
       },
-      "Description": "axes to tune",
-      "DisplayName": "Rover Quicktune axes",
       "User": "Standard"
     },
-    "RTUN_ENABLE": {
-      "Description": "Enable quicktune system",
-      "DisplayName": "Rover Quicktune enable",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "RTUN_RC_FUNC": {
-      "Description": "RCn_OPTION number to use to control tuning stop/start/save",
-      "DisplayName": "Rover Quicktune RC function",
-      "User": "Standard",
-      "Values": {
-        "300": "Scripting1",
-        "301": "Scripting2",
-        "302": "Scripting3",
-        "303": "Scripting4",
-        "304": "Scripting5",
-        "305": "Scripting6",
-        "306": "Scripting7",
-        "307": "Scripting8"
+    "ATC_RAT_PIT_PDMX": {
+      "Description": "Pitch axis rate controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output",
+      "DisplayName": "Pitch axis rate controller PD sum maximum",
+      "Increment": "0.01",
+      "Range": {
+        "high": "1",
+        "low": "0"
       }
     },
-    "RTUN_SPD_FFRATIO": {
-      "Description": "Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value",
-      "DisplayName": "Rover Quicktune Speed FeedForward (equivalent) ratio",
+    "ATC_RAT_PIT_SMAX": {
+      "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.",
+      "DisplayName": "Pitch slew rate limit",
+      "Increment": "0.5",
       "Range": {
-        "high": "1.0",
+        "high": "200",
         "low": "0"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "RTUN_SPD_I_RATIO": {
-      "Description": "Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged",
-      "DisplayName": "Rover Quicktune Speed FF to I ratio",
+    "ATC_RAT_RLL_D": {
+      "Description": "Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate",
+      "DisplayName": "Roll axis rate controller D gain",
+      "Increment": "0.001",
       "Range": {
-        "high": "2.0",
-        "low": "0"
+        "high": "0.02",
+        "low": "0.0"
       },
       "User": "Standard"
     },
-    "RTUN_SPD_P_RATIO": {
-      "Description": "Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged",
-      "DisplayName": "Rover Quicktune Speed FF to P ratio",
+    "ATC_RAT_RLL_D_FF": {
+      "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target",
+      "DisplayName": "Roll Derivative FeedForward Gain",
+      "Increment": "0.0001",
       "Range": {
-        "high": "2.0",
+        "high": "0.02",
         "low": "0"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "RTUN_STR_FFRATIO": {
-      "Description": "Ratio between measured response and FF gain. Raise this to get a higher FF gain",
-      "DisplayName": "Rover Quicktune Steering Rate FeedForward ratio",
+    "ATC_RAT_RLL_FF": {
+      "Description": "Roll axis rate controller feed forward",
+      "DisplayName": "Roll axis rate controller feed forward",
+      "Increment": "0.001",
       "Range": {
-        "high": "1.0",
+        "high": "0.5",
         "low": "0"
       },
       "User": "Standard"
     },
-    "RTUN_STR_I_RATIO": {
-      "Description": "Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged",
-      "DisplayName": "Rover Quicktune Steering FF to I ratio",
+    "ATC_RAT_RLL_FILT": {
+      "Description": "Roll axis rate controller input frequency in Hz",
+      "DisplayName": "Roll axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "2.0",
-        "low": "0"
+        "high": "100",
+        "low": "1"
       },
+      "Units": "Hz",
       "User": "Standard"
     },
-    "RTUN_STR_P_RATIO": {
-      "Description": "Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged",
-      "DisplayName": "Rover Quicktune Steering FF to P ratio",
+    "ATC_RAT_RLL_FLTD": {
+      "Description": "Roll axis rate controller input frequency in Hz",
+      "DisplayName": "Roll axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "2.0",
-        "low": "0"
+        "high": "100",
+        "low": "1"
       },
+      "Units": "Hz",
       "User": "Standard"
     },
-    "SHIP_AUTO_OFS": {
-      "Description": "Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.",
-      "DisplayName": "Ship automatic offset trigger",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Trigger"
-      }
-    },
-    "SHIP_ENABLE": {
-      "Description": "Enable ship landing system",
-      "DisplayName": "Ship landing enable",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "SHIP_LAND_ANGLE": {
-      "Description": "Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.",
-      "DisplayName": "Ship landing angle",
+    "ATC_RAT_RLL_FLTE": {
+      "Description": "Roll axis rate controller input frequency in Hz",
+      "DisplayName": "Roll axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "180",
-        "low": "-180"
+        "high": "100",
+        "low": "1"
       },
-      "Units": "deg",
+      "Units": "Hz",
       "User": "Standard"
     },
-    "TOFSENSE_ID1": {
-      "Description": "First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software",
-      "DisplayName": "TOFSENSE-M First ID",
+    "ATC_RAT_RLL_FLTT": {
+      "Description": "Roll axis rate controller input frequency in Hz",
+      "DisplayName": "Roll axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "255",
+        "high": "100",
         "low": "1"
       },
+      "Units": "Hz",
       "User": "Standard"
     },
-    "TOFSENSE_ID2": {
-      "Description": "Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software",
-      "DisplayName": "TOFSENSE-M Second ID",
+    "ATC_RAT_RLL_I": {
+      "Description": "Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate",
+      "DisplayName": "Roll axis rate controller I gain",
+      "Increment": "0.01",
       "Range": {
-        "high": "255",
-        "low": "1"
+        "high": "0.5",
+        "low": "0.0"
       },
       "User": "Standard"
     },
-    "TOFSENSE_ID3": {
-      "Description": "Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software",
-      "DisplayName": "TOFSENSE-M Thir ID",
+    "ATC_RAT_RLL_IMAX": {
+      "Description": "Roll axis rate controller I gain maximum.  Constrains the maximum that the I term will output",
+      "DisplayName": "Roll axis rate controller I gain maximum",
+      "Increment": "0.01",
       "Range": {
-        "high": "255",
-        "low": "1"
+        "high": "1",
+        "low": "0"
       },
       "User": "Standard"
     },
-    "TOFSENSE_INST1": {
-      "Description": "First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)",
-      "DisplayName": "TOFSENSE-M First Instance",
+    "ATC_RAT_RLL_NEF": {
+      "Description": "Roll Error notch filter index",
+      "DisplayName": "Roll Error notch filter index",
       "Range": {
-        "high": "3",
+        "high": "8",
         "low": "1"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "TOFSENSE_INST2": {
-      "Description": "Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)",
-      "DisplayName": "TOFSENSE-M Second Instance",
+    "ATC_RAT_RLL_NTF": {
+      "Description": "Roll Target notch filter index",
+      "DisplayName": "Roll Target notch filter index",
       "Range": {
-        "high": "3",
+        "high": "8",
         "low": "1"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "TOFSENSE_INST3": {
-      "Description": "Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)",
-      "DisplayName": "TOFSENSE-M Third Instance",
+    "ATC_RAT_RLL_P": {
+      "Description": "Roll axis rate controller P gain.  Corrects in proportion to the difference between the desired roll rate vs actual roll rate",
+      "DisplayName": "Roll axis rate controller P gain",
+      "Increment": "0.005",
       "Range": {
-        "high": "3",
-        "low": "1"
+        "high": "0.30",
+        "low": "0.0"
       },
       "User": "Standard"
     },
-    "TOFSENSE_MODE": {
-      "Description": "TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode",
-      "DisplayName": "TOFSENSE-M mode to be used",
-      "User": "Standard",
-      "Values": {
-        "0": "8x8 mode",
-        "1": "4x4 mode"
+    "ATC_RAT_RLL_PDMX": {
+      "Description": "Roll axis rate controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output",
+      "DisplayName": "Roll axis rate controller PD sum maximum",
+      "Increment": "0.01",
+      "Range": {
+        "high": "1",
+        "low": "0"
       }
     },
-    "TOFSENSE_NO": {
-      "Description": "Number of TOFSENSE-M CAN sensors connected",
-      "DisplayName": "TOFSENSE-M Connected",
+    "ATC_RAT_RLL_SMAX": {
+      "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.",
+      "DisplayName": "Roll slew rate limit",
+      "Increment": "0.5",
       "Range": {
-        "high": "3",
-        "low": "1"
+        "high": "200",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
+    "ATC_RAT_YAW_D": {
+      "Description": "Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate",
+      "DisplayName": "Yaw axis rate controller D gain",
+      "Increment": "0.001",
+      "Range": {
+        "high": "0.02",
+        "low": "0.000"
       },
       "User": "Standard"
     },
-    "TOFSENSE_PRX": {
-      "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)",
-      "DisplayName": "TOFSENSE-M to be used as Proximity sensor",
-      "User": "Standard",
-      "Values": {
-        "0": "Set as Rangefinder",
-        "1": "Set as Proximity sensor"
-      }
+    "ATC_RAT_YAW_D_FF": {
+      "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target",
+      "DisplayName": "Yaw Derivative FeedForward Gain",
+      "Increment": "0.0001",
+      "Range": {
+        "high": "0.02",
+        "low": "0"
+      },
+      "User": "Advanced"
     },
-    "TOFSENSE_S1_BR": {
-      "Description": "Serial Port baud rate. Sensor baud rate can be changed from Nassistant software",
-      "DisplayName": "TOFSENSE-M serial port baudrate",
+    "ATC_RAT_YAW_FF": {
+      "Description": "Yaw axis rate controller feed forward",
+      "DisplayName": "Yaw axis rate controller feed forward",
+      "Increment": "0.001",
+      "Range": {
+        "high": "0.5",
+        "low": "0"
+      },
       "User": "Standard"
     },
-    "TOFSENSE_S1_PRX": {
-      "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)",
-      "DisplayName": "TOFSENSE-M to be used as Proximity sensor",
-      "User": "Standard",
-      "Values": {
-        "0": "Set as Rangefinder",
-        "1": "Set as Proximity sensor"
-      }
+    "ATC_RAT_YAW_FILT": {
+      "Description": "Yaw axis rate controller input frequency in Hz",
+      "DisplayName": "Yaw axis rate controller input frequency in Hz",
+      "Increment": "1",
+      "Range": {
+        "high": "100",
+        "low": "1"
+      },
+      "Units": "Hz",
+      "User": "Standard"
     },
-    "TOFSENSE_S1_SP": {
-      "Description": "UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. ",
-      "DisplayName": "TOFSENSE-M serial port config",
+    "ATC_RAT_YAW_FLTD": {
+      "Description": "Yaw axis rate controller input frequency in Hz",
+      "DisplayName": "Yaw axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "4",
+        "high": "100",
         "low": "1"
       },
+      "Units": "Hz",
       "User": "Standard"
     },
-    "TRIK_ACT_FN": {
-      "Description": "Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)",
-      "DisplayName": "Trik Action Scripting Function",
+    "ATC_RAT_YAW_FLTE": {
+      "Description": "Yaw axis rate controller input frequency in Hz",
+      "DisplayName": "Yaw axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "307",
-        "low": "301"
-      }
+        "high": "100",
+        "low": "1"
+      },
+      "Units": "Hz",
+      "User": "Standard"
     },
-    "TRIK_COUNT": {
-      "Description": "Number of tricks which can be selected over the range of the trik selection RC channel",
-      "DisplayName": "Trik Count",
+    "ATC_RAT_YAW_FLTT": {
+      "Description": "Yaw axis rate controller input frequency in Hz",
+      "DisplayName": "Yaw axis rate controller input frequency in Hz",
+      "Increment": "1",
       "Range": {
-        "high": "11",
+        "high": "100",
         "low": "1"
-      }
+      },
+      "Units": "Hz",
+      "User": "Standard"
     },
-    "TRIK_ENABLE": {
-      "Description": "Enables Tricks on Switch. TRIK params hidden until enabled",
-      "DisplayName": "Tricks on Switch Enable"
+    "ATC_RAT_YAW_I": {
+      "Description": "Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate",
+      "DisplayName": "Yaw axis rate controller I gain",
+      "Increment": "0.01",
+      "Range": {
+        "high": "0.05",
+        "low": "0.0"
+      },
+      "User": "Standard"
     },
-    "TRIK_SEL_FN": {
-      "Description": "Setting an RC channel's _OPTION to this value will use it for trick selection",
-      "DisplayName": "Trik Selection Scripting Function",
+    "ATC_RAT_YAW_IMAX": {
+      "Description": "Yaw axis rate controller I gain maximum.  Constrains the maximum that the I term will output",
+      "DisplayName": "Yaw axis rate controller I gain maximum",
+      "Increment": "0.01",
       "Range": {
-        "high": "307",
-        "low": "301"
-      }
+        "high": "1",
+        "low": "0"
+      },
+      "User": "Standard"
     },
-    "VIEP_CAM_SWHIGH": {
-      "Description": "Camera selection when switch is in high position",
-      "DisplayName": "ViewPro Camera For Switch High",
-      "User": "Standard",
-      "Values": {
-        "0": "No change in camera selection",
-        "1": "EO1",
-        "2": "IR thermal",
-        "3": "EO1 + IR Picture-in-picture",
-        "4": "IR + EO1 Picture-in-picture",
-        "5": "Fusion",
-        "6": "IR1 13mm",
-        "7": "IR2 52mm"
-      }
+    "ATC_RAT_YAW_NEF": {
+      "Description": "Yaw Error notch filter index",
+      "DisplayName": "Yaw Error notch filter index",
+      "Range": {
+        "high": "8",
+        "low": "1"
+      },
+      "User": "Advanced"
     },
-    "VIEP_CAM_SWLOW": {
-      "Description": "Camera selection when switch is in low position",
-      "DisplayName": "ViewPro Camera For Switch Low",
-      "User": "Standard",
-      "Values": {
-        "0": "No change in camera selection",
-        "1": "EO1",
-        "2": "IR thermal",
-        "3": "EO1 + IR Picture-in-picture",
-        "4": "IR + EO1 Picture-in-picture",
-        "5": "Fusion",
-        "6": "IR1 13mm",
-        "7": "IR2 52mm"
-      }
-    },
-    "VIEP_CAM_SWMID": {
-      "Description": "Camera selection when switch is in middle position",
-      "DisplayName": "ViewPro Camera For Switch Mid",
-      "User": "Standard",
-      "Values": {
-        "0": "No change in camera selection",
-        "1": "EO1",
-        "2": "IR thermal",
-        "3": "EO1 + IR Picture-in-picture",
-        "4": "IR + EO1 Picture-in-picture",
-        "5": "Fusion",
-        "6": "IR1 13mm",
-        "7": "IR2 52mm"
-      }
-    },
-    "VIEP_DEBUG": {
-      "Description": "ViewPro debug",
-      "DisplayName": "ViewPro debug",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled",
-        "2": "Enabled including attitude reporting"
-      }
+    "ATC_RAT_YAW_NTF": {
+      "Description": "Yaw Target notch filter index",
+      "DisplayName": "Yaw Target notch filter index",
+      "Range": {
+        "high": "8",
+        "low": "1"
+      },
+      "User": "Advanced"
     },
-    "VIEP_ZOOM_MAX": {
-      "Description": "ViewPro Zoom Times Max",
-      "DisplayName": "ViewPro Zoom Times Max",
+    "ATC_RAT_YAW_P": {
+      "Description": "Yaw axis rate controller P gain.  Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate",
+      "DisplayName": "Yaw axis rate controller P gain",
+      "Increment": "0.005",
       "Range": {
-        "high": "30",
-        "low": "0"
+        "high": "0.50",
+        "low": "0.0"
       },
       "User": "Standard"
     },
-    "VIEP_ZOOM_SPEED": {
-      "Description": "ViewPro Zoom Speed.  Higher numbers result in faster zooming",
-      "DisplayName": "ViewPro Zoom Speed",
+    "ATC_RAT_YAW_PDMX": {
+      "Description": "Yaw axis rate controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output",
+      "DisplayName": "Yaw axis rate controller PD sum maximum",
+      "Increment": "0.01",
       "Range": {
-        "high": "7",
+        "high": "1",
         "low": "0"
-      },
-      "User": "Standard"
+      }
     },
-    "WEB_BIND_PORT": {
-      "Description": "web server TCP port",
-      "DisplayName": "web server TCP port",
+    "ATC_RAT_YAW_SMAX": {
+      "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.",
+      "DisplayName": "Yaw slew rate limit",
+      "Increment": "0.5",
       "Range": {
-        "high": "65535",
-        "low": "1"
+        "high": "200",
+        "low": "0"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "WEB_BLOCK_SIZE": {
-      "Description": "web server block size for download",
-      "DisplayName": "web server block size",
+    "ATC_SLEW_YAW": {
+      "Description": "Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes",
+      "DisplayName": "Yaw target slew rate",
+      "Increment": "100",
       "Range": {
-        "high": "65535",
-        "low": "1"
+        "high": "18000",
+        "low": "500"
       },
+      "Units": "cdeg/s",
       "User": "Advanced"
     },
-    "WEB_DEBUG": {
-      "Description": "web server debugging",
-      "DisplayName": "web server debugging",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "WEB_ENABLE": {
-      "Description": "enable web server",
-      "DisplayName": "enable web server",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "WEB_SENDFILE_MIN": {
-      "Description": "sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download",
-      "DisplayName": "web server minimum file size for sendfile",
+    "ATC_THR_MIX_MAN": {
+      "Description": "Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)",
+      "DisplayName": "Throttle Mix Manual",
       "Range": {
-        "high": "10000000",
-        "low": "0"
+        "high": "0.9",
+        "low": "0.5"
       },
       "User": "Advanced"
     },
-    "WEB_TIMEOUT": {
-      "Description": "timeout for inactive connections",
-      "DisplayName": "web server timeout",
+    "ATC_THR_MIX_MAX": {
+      "Description": "Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)",
+      "DisplayName": "Throttle Mix Maximum",
       "Range": {
-        "high": "60",
-        "low": "0.1"
+        "high": "0.9",
+        "low": "0.5"
       },
-      "Units": "s",
       "User": "Advanced"
     },
-    "WINCH_RATE_DN": {
-      "Description": "Maximum rate when releasing line",
-      "DisplayName": "WinchControl Rate Down",
+    "ATC_THR_MIX_MIN": {
+      "Description": "Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)",
+      "DisplayName": "Throttle Mix Minimum",
       "Range": {
-        "high": "5.0",
+        "high": "0.25",
         "low": "0.1"
       },
+      "User": "Advanced"
+    }
+  },
+  "AVOID_": {
+    "AVOID_ACCEL_MAX": {
+      "Description": "Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits",
+      "DisplayName": "Avoidance maximum acceleration",
+      "Range": {
+        "high": "9",
+        "low": "0"
+      },
+      "Units": "m/s/s",
       "User": "Standard"
     },
-    "WINCH_RATE_UP": {
-      "Description": "Maximum rate when retracting line",
-      "DisplayName": "WinchControl Rate Up",
+    "AVOID_BACKUP_DZ": {
+      "Description": "Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.",
+      "DisplayName": "Avoidance deadzone between stopping and backing away from obstacle",
       "Range": {
-        "high": "5.0",
-        "low": "0.1"
+        "high": "2",
+        "low": "0"
       },
+      "Units": "m",
       "User": "Standard"
     },
-    "WINCH_RC_FUNC": {
-      "Description": "RCn_OPTION number to use to control winch rate",
-      "DisplayName": "Winch Rate Control RC function",
-      "User": "Standard",
-      "Values": {
-        "300": "Scripting1",
-        "301": "Scripting2",
-        "302": "Scripting3",
-        "303": "Scripting4",
-        "304": "Scripting5",
-        "305": "Scripting6",
-        "306": "Scripting7",
-        "307": "Scripting8"
-      }
-    }
-  },
-  "AHRS_": {
-    "AHRS_COMP_BETA": {
-      "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.",
-      "DisplayName": "AHRS Velocity Complementary Filter Beta Coefficient",
-      "Increment": ".01",
+    "AVOID_BACKUP_SPD": {
+      "Description": "Maximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable",
+      "DisplayName": "Avoidance maximum backup speed",
       "Range": {
-        "high": "0.5",
-        "low": "0.001"
+        "high": "2",
+        "low": "0"
       },
-      "User": "Advanced"
+      "Units": "m/s",
+      "User": "Standard"
     },
-    "AHRS_CUSTOM_PIT": {
-      "Description": "Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.",
-      "DisplayName": "Board orientation pitch offset",
-      "Increment": "1",
-      "Range": {
-        "high": "180",
-        "low": "-180"
+    "AVOID_ENABLE": {
+      "Bitmask": {
+        "0": "UseFence",
+        "1": "UseProximitySensor",
+        "2": "UseBeaconFence"
       },
-      "Units": "deg",
-      "User": "Advanced"
+      "Description": "Enabled/disable avoidance input sources",
+      "DisplayName": "Avoidance control enable/disable",
+      "User": "Standard"
     },
-    "AHRS_CUSTOM_ROLL": {
-      "Description": "Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.",
-      "DisplayName": "Board orientation roll offset",
-      "Increment": "1",
+    "AVOID_MARGIN": {
+      "Description": "Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes",
+      "DisplayName": "Avoidance distance margin in GPS modes",
       "Range": {
-        "high": "180",
-        "low": "-180"
+        "high": "10",
+        "low": "1"
       },
-      "Units": "deg",
+      "Units": "m",
+      "User": "Standard"
+    }
+  },
+  "BARO": {
+    "BARO1_DEVID": {
+      "Description": "Barometer sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Baro ID",
+      "ReadOnly": "True",
       "User": "Advanced"
     },
-    "AHRS_CUSTOM_YAW": {
-      "Description": "Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.",
-      "DisplayName": "Board orientation yaw offset",
+    "BARO1_GND_PRESS": {
+      "Description": "calibrated ground pressure in Pascals",
+      "DisplayName": "Ground Pressure",
       "Increment": "1",
-      "Range": {
-        "high": "180",
-        "low": "-180"
-      },
-      "Units": "deg",
+      "ReadOnly": "True",
+      "Units": "Pa",
+      "User": "Advanced",
+      "Volatile": "True"
+    },
+    "BARO2_DEVID": {
+      "Description": "Barometer2 sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Baro ID2",
+      "ReadOnly": "True",
       "User": "Advanced"
     },
-    "AHRS_EKF_TYPE": {
-      "Description": "This controls which NavEKF Kalman filter version is used for attitude and position estimation",
-      "DisplayName": "Use NavEKF Kalman filter for attitude and position estimation",
+    "BARO2_GND_PRESS": {
+      "Description": "calibrated ground pressure in Pascals",
+      "DisplayName": "Ground Pressure",
+      "Increment": "1",
+      "ReadOnly": "True",
+      "Units": "Pa",
       "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "11": "ExternalAHRS",
-        "2": "Enable EKF2",
-        "3": "Enable EKF3"
-      }
+      "Volatile": "True"
     },
-    "AHRS_GPS_GAIN": {
-      "Description": "This controls 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.",
-      "DisplayName": "AHRS GPS gain",
-      "Increment": ".01",
-      "Range": {
-        "high": "1.0",
-        "low": "0.0"
-      },
+    "BARO3_DEVID": {
+      "Description": "Barometer3 sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Baro ID3",
+      "ReadOnly": "True",
       "User": "Advanced"
     },
-    "AHRS_GPS_MINSATS": {
-      "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.",
-      "DisplayName": "AHRS GPS Minimum satellites",
+    "BARO3_GND_PRESS": {
+      "Description": "calibrated ground pressure in Pascals",
+      "DisplayName": "Absolute Pressure",
+      "Increment": "1",
+      "ReadOnly": "True",
+      "Units": "Pa",
+      "User": "Advanced",
+      "Volatile": "True"
+    },
+    "BARO_ALTERR_MAX": {
+      "Description": "This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.",
+      "DisplayName": "Altitude error maximum",
       "Increment": "1",
       "Range": {
-        "high": "10",
+        "high": "5000",
         "low": "0"
       },
+      "Units": "m",
       "User": "Advanced"
     },
-    "AHRS_GPS_USE": {
-      "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. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.",
-      "DisplayName": "AHRS use GPS for DCM navigation and position-down",
+    "BARO_ALT_OFFSET": {
+      "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.",
+      "DisplayName": "altitude offset",
+      "Increment": "0.1",
+      "Units": "m",
+      "User": "Advanced"
+    },
+    "BARO_EXT_BUS": {
+      "Description": "This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.",
+      "DisplayName": "External baro bus",
       "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Use GPS for DCM position",
-        "2": "Use GPS for DCM position and height"
+        "-1": "Disabled",
+        "0": "Bus0",
+        "1": "Bus1",
+        "6": "Bus6"
       }
     },
-    "AHRS_OPTIONS": {
+    "BARO_FIELD_ELV": {
+      "Description": "User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.",
+      "DisplayName": "field elevation",
+      "Increment": "0.1",
+      "Units": "m",
+      "User": "Advanced",
+      "Volatile": "True"
+    },
+    "BARO_FLTR_RNG": {
+      "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.",
+      "DisplayName": "Range in which sample is accepted",
+      "Increment": "1",
+      "Range": {
+        "high": "100",
+        "low": "0"
+      },
+      "Units": "%"
+    },
+    "BARO_GND_TEMP": {
+      "Description": "User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.",
+      "DisplayName": "ground temperature",
+      "Increment": "1",
+      "Units": "degC",
+      "User": "Advanced",
+      "Volatile": "True"
+    },
+    "BARO_OPTIONS": {
       "Bitmask": {
-        "0": "DisableDCMFallbackFW",
-        "1": "DisableDCMFallbackVTOL"
+        "0": "Treat MS5611 as MS5607"
       },
-      "Description": "This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. ",
-      "DisplayName": "Optional AHRS behaviour",
+      "Description": "Barometer options",
+      "DisplayName": "Barometer options",
       "User": "Advanced"
     },
-    "AHRS_ORIENTATION": {
-      "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. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.",
-      "DisplayName": "Board Orientation",
+    "BARO_PRIMARY": {
+      "Description": "This selects which barometer will be the primary if multiple barometers are found",
+      "DisplayName": "Primary barometer",
       "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "Yaw45",
-        "10": "Yaw90Roll180",
-        "100": "Custom 4.1 and older",
-        "101": "Custom 1",
-        "102": "Custom 2",
-        "11": "Yaw135Roll180",
-        "12": "Pitch180",
-        "13": "Yaw225Roll180",
-        "14": "Yaw270Roll180",
-        "15": "Yaw315Roll180",
-        "16": "Roll90",
-        "17": "Yaw45Roll90",
-        "18": "Yaw90Roll90",
-        "19": "Yaw135Roll90",
-        "2": "Yaw90",
-        "20": "Roll270",
-        "21": "Yaw45Roll270",
-        "22": "Yaw90Roll270",
-        "23": "Yaw135Roll270",
-        "24": "Pitch90",
-        "25": "Pitch270",
-        "26": "Yaw90Pitch180",
-        "27": "Yaw270Pitch180",
-        "28": "Pitch90Roll90",
-        "29": "Pitch90Roll180",
-        "3": "Yaw135",
-        "30": "Pitch90Roll270",
-        "31": "Pitch180Roll90",
-        "32": "Pitch180Roll270",
-        "33": "Pitch270Roll90",
-        "34": "Pitch270Roll180",
-        "35": "Pitch270Roll270",
-        "36": "Yaw90Pitch180Roll90",
-        "37": "Yaw270Roll90",
-        "38": "Yaw293Pitch68Roll180",
-        "39": "Pitch315",
-        "4": "Yaw180",
-        "40": "Pitch315Roll90",
-        "42": "Roll45",
-        "43": "Roll315",
-        "5": "Yaw225",
-        "6": "Yaw270",
-        "7": "Yaw315",
-        "8": "Roll180",
-        "9": "Yaw45Roll180"
+        "0": "FirstBaro",
+        "1": "2ndBaro",
+        "2": "3rdBaro"
       }
     },
-    "AHRS_RP_P": {
-      "Description": "This controls how fast the accelerometers correct the attitude",
-      "DisplayName": "AHRS RP_P",
-      "Increment": ".01",
-      "Range": {
-        "high": "0.4",
-        "low": "0.1"
+    "BARO_PROBE_EXT": {
+      "Bitmask": {
+        "0": "BMP085",
+        "1": "BMP280",
+        "10": "BMP388",
+        "11": "SPL06",
+        "12": "MSP",
+        "2": "MS5611",
+        "3": "MS5607",
+        "4": "MS5637",
+        "5": "FBM320",
+        "6": "DPS280",
+        "7": "LPS25H",
+        "8": "Keller",
+        "9": "MS5837"
       },
+      "Description": "This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.",
+      "DisplayName": "External barometers to probe",
       "User": "Advanced"
     },
-    "AHRS_TRIM_X": {
-      "Description": "Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.",
-      "DisplayName": "AHRS Trim Roll",
-      "Increment": "0.01",
+    "BARO_SPEC_GRAV": {
+      "Description": "This sets the specific gravity of the fluid when flying an underwater ROV.",
+      "DisplayName": "Specific Gravity (For water depth measurement)",
+      "Values": {
+        "1.0": "Freshwater",
+        "1.024": "Saltwater"
+      }
+    }
+  },
+  "BARO1_WCF_": {
+    "BARO1_WCF_BCK": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in negative X direction (backwards)",
+      "Increment": "0.05",
       "Range": {
-        "high": "+0.1745",
-        "low": "-0.1745"
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Units": "rad",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "AHRS_TRIM_Y": {
-      "Description": "Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.",
-      "DisplayName": "AHRS Trim Pitch",
-      "Increment": "0.01",
+    "BARO1_WCF_DN": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in negative Z direction (down)",
+      "Increment": "0.05",
       "Range": {
-        "high": "+0.1745",
-        "low": "-0.1745"
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Units": "rad",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "AHRS_TRIM_Z": {
-      "Description": "Not Used",
-      "DisplayName": "AHRS Trim Yaw",
-      "Increment": "0.01",
+    "BARO1_WCF_ENABLE": {
+      "Description": "This enables the use of wind coefficients for barometer compensation",
+      "DisplayName": "Wind coefficient enable",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
+    },
+    "BARO1_WCF_FWD": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in positive X direction (forward)",
+      "Increment": "0.05",
       "Range": {
-        "high": "+0.1745",
-        "low": "-0.1745"
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Units": "rad",
       "User": "Advanced"
     },
-    "AHRS_WIND_MAX": {
-      "Description": "This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.",
-      "DisplayName": "Maximum wind",
-      "Increment": "1",
+    "BARO1_WCF_LFT": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in negative Y direction (left)",
+      "Increment": "0.05",
       "Range": {
-        "high": "127",
-        "low": "0"
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Units": "m/s",
       "User": "Advanced"
     },
-    "AHRS_YAW_P": {
-      "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.",
-      "DisplayName": "Yaw P",
-      "Increment": ".01",
+    "BARO1_WCF_RGT": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in positive Y direction (right)",
+      "Increment": "0.05",
       "Range": {
-        "high": "0.4",
-        "low": "0.1"
+        "high": "1.0",
+        "low": "-1.0"
       },
       "User": "Advanced"
-    }
-  },
-  "AIS_": {
-    "AIS_LIST_MAX": {
-      "Description": "AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.",
-      "DisplayName": "AIS vessel list size",
+    },
+    "BARO1_WCF_UP": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in positive Z direction (up)",
+      "Increment": "0.05",
       "Range": {
-        "high": "100",
-        "low": "1"
+        "high": "1.0",
+        "low": "-1.0"
       },
       "User": "Advanced"
-    },
-    "AIS_LOGGING": {
-      "Bitmask": {
-        "0": "Log all AIVDM messages",
-        "1": "Log only unsupported AIVDM messages",
-        "2": "Log decoded messages"
+    }
+  },
+  "BARO2_WCF_": {
+    "BARO2_WCF_BCK": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in negative X direction (backwards)",
+      "Increment": "0.05",
+      "Range": {
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Description": "Bitmask of AIS logging options",
-      "DisplayName": "AIS logging options",
       "User": "Advanced"
     },
-    "AIS_TIME_OUT": {
-      "Description": "if no updates are received in this time a vessel will be removed from the list",
-      "DisplayName": "AIS vessel time out",
+    "BARO2_WCF_DN": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in negative Z direction (down)",
+      "Increment": "0.05",
       "Range": {
-        "high": "2000",
-        "low": "1"
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Units": "s",
       "User": "Advanced"
     },
-    "AIS_TYPE": {
-      "Description": "AIS receiver type",
-      "DisplayName": "AIS receiver type",
-      "RebootRequired": "True",
-      "User": "Standard",
+    "BARO2_WCF_ENABLE": {
+      "Description": "This enables the use of wind coefficients for barometer compensation",
+      "DisplayName": "Wind coefficient enable",
+      "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "NMEA AIVDM message"
+        "0": "Disabled",
+        "1": "Enabled"
       }
-    }
-  },
-  "ARMING_": {
-    "ARMING_ACCTHRESH": {
-      "Description": "Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.",
-      "DisplayName": "Accelerometer error threshold",
+    },
+    "BARO2_WCF_FWD": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in positive X direction (forward)",
+      "Increment": "0.05",
       "Range": {
-        "high": "3.0",
-        "low": "0.25"
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "ARMING_CHECK": {
-      "Bitmask": {
-        "0": "All",
-        "1": "Barometer",
-        "10": "Logging Available",
-        "11": "Hardware safety switch",
-        "12": "GPS Configuration",
-        "13": "System",
-        "14": "Mission",
-        "15": "Rangefinder",
-        "16": "Camera",
-        "17": "AuxAuth",
-        "18": "VisualOdometry",
-        "19": "FFT",
-        "2": "Compass",
-        "3": "GPS lock",
-        "4": "INS",
-        "5": "Parameters",
-        "6": "RC Channels",
-        "7": "Board voltage",
-        "8": "Battery Level"
+    "BARO2_WCF_LFT": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in negative Y direction (left)",
+      "Increment": "0.05",
+      "Range": {
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Description": "Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). 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 no RC failsafe you would set ARMING_CHECK to 72.",
-      "DisplayName": "Arm Checks to Perform (bitmask)",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ARMING_MAGTHRESH": {
-      "Description": "Compass magnetic field strength error threshold vs earth magnetic model.  X and y axis are compared using this threhold, Z axis uses 2x this threshold.  0 to disable check",
-      "DisplayName": "Compass magnetic field strength error threshold vs earth magnetic model",
+    "BARO2_WCF_RGT": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in positive Y direction (right)",
+      "Increment": "0.05",
       "Range": {
-        "high": "500",
-        "low": "0"
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Units": "mGauss",
       "User": "Advanced"
     },
-    "ARMING_MIS_ITEMS": {
-      "Bitmask": {
-        "0": "Land",
-        "1": "VTOL Land",
-        "2": "DO_LAND_START",
-        "3": "Takeoff",
-        "4": "VTOL Takeoff",
-        "5": "Rallypoint",
-        "6": "RTL"
+    "BARO2_WCF_UP": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in positive Z direction (up)",
+      "Increment": "0.05",
+      "Range": {
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Description": "Bitmask of mission items that are required to be planned in order to arm the aircraft",
-      "DisplayName": "Required mission items",
       "User": "Advanced"
-    },
-    "ARMING_OPTIONS": {
-      "Description": "Options that can be applied to change arming behaviour",
-      "DisplayName": "Arming options",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "1": "Disable prearm display",
-        "2": "Do not send status text on state change"
-      }
-    },
-    "ARMING_RUDDER": {
-      "Description": "Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!",
-      "DisplayName": "Arming with Rudder enable/disable",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "ArmingOnly",
-        "2": "ArmOrDisarm"
-      }
     }
   },
-  "ARSPD": {
-    "ARSPD_ENABLE": {
-      "Description": "Enable airspeed sensor support",
-      "DisplayName": "Airspeed Enable",
-      "User": "Standard",
-      "Values": {
-        "0": "Disable",
-        "1": "Enable"
-      }
-    },
-    "ARSPD_OFF_PCNT": {
-      "Description": "The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.",
-      "DisplayName": "Maximum offset cal speed error ",
+  "BARO3_WCF_": {
+    "BARO3_WCF_BCK": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in negative X direction (backwards)",
+      "Increment": "0.05",
       "Range": {
-        "high": "10.0",
-        "low": "0.0"
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Units": "%",
       "User": "Advanced"
     },
-    "ARSPD_OPTIONS": {
-      "Bitmask": {
-        "0": "SpeedMismatchDisable",
-        "1": "AllowSpeedMismatchRecovery",
-        "2": "DisableVoltageCorrection",
-        "3": "UseEkf3Consistency"
+    "BARO3_WCF_DN": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in negative Z direction (down)",
+      "Increment": "0.05",
+      "Range": {
+        "high": "1.0",
+        "low": "-1.0"
       },
-      "Description": "This parameter and function is not used by this vehicle. Always set to 0.",
-      "DisplayName": "Airspeed options bitmask",
       "User": "Advanced"
     },
-    "ARSPD_PRIMARY": {
-      "Description": "This selects which airspeed sensor will be the primary if multiple sensors are found",
-      "DisplayName": "Primary airspeed sensor",
+    "BARO3_WCF_ENABLE": {
+      "Description": "This enables the use of wind coefficients for barometer compensation",
+      "DisplayName": "Wind coefficient enable",
       "User": "Advanced",
       "Values": {
-        "0": "FirstSensor",
-        "1": "2ndSensor"
+        "0": "Disabled",
+        "1": "Enabled"
       }
     },
-    "ARSPD_TUBE_ORDER": {
-      "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 first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.",
-      "DisplayName": "Control pitot tube order",
-      "User": "Advanced",
-      "Values": {
-        "0": "Normal",
-        "1": "Swapped",
-        "2": "Auto Detect"
-      }
+    "BARO3_WCF_FWD": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in positive X direction (forward)",
+      "Increment": "0.05",
+      "Range": {
+        "high": "1.0",
+        "low": "-1.0"
+      },
+      "User": "Advanced"
     },
-    "ARSPD_WIND_GATE": {
-      "Description": "This parameter and function is not used by this vehicle.",
-      "DisplayName": "Re-enable Consistency Check Gate Size",
+    "BARO3_WCF_LFT": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in negative Y direction (left)",
+      "Increment": "0.05",
       "Range": {
-        "high": "10.0",
-        "low": "0.0"
+        "high": "1.0",
+        "low": "-1.0"
       },
       "User": "Advanced"
     },
-    "ARSPD_WIND_MAX": {
-      "Description": "This parameter and function is not used by this vehicle. Always set to 0.",
-      "DisplayName": "Maximum airspeed and ground speed difference",
-      "Units": "m/s",
+    "BARO3_WCF_RGT": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in positive Y direction (right)",
+      "Increment": "0.05",
+      "Range": {
+        "high": "1.0",
+        "low": "-1.0"
+      },
       "User": "Advanced"
     },
-    "ARSPD_WIND_WARN": {
-      "Description": "This parameter and function is not used by this vehicle. Always set to 0.",
-      "DisplayName": "Airspeed and GPS speed difference that gives a warning",
-      "Units": "m/s",
+    "BARO3_WCF_UP": {
+      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
+      "DisplayName": "Pressure error coefficient in positive Z direction (up)",
+      "Increment": "0.05",
+      "Range": {
+        "high": "1.0",
+        "low": "-1.0"
+      },
       "User": "Advanced"
     }
   },
-  "ARSPD2_": {
-    "ARSPD2_AUTOCAL": {
-      "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.",
-      "DisplayName": "This parameter and function is not used by this vehicle. Always set to 0.",
+  "BATT2_": {
+    "BATT2_AMP_OFFSET": {
+      "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
+      "DisplayName": "AMP offset",
+      "Units": "V",
+      "User": "Standard"
+    },
+    "BATT2_AMP_PERVLT": {
+      "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
+      "DisplayName": "Amps per volt",
+      "Units": "A/V",
+      "User": "Standard"
+    },
+    "BATT2_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.",
+      "DisplayName": "Required arming remaining capacity",
+      "Increment": "50",
+      "Units": "mAh",
       "User": "Advanced"
     },
-    "ARSPD2_BUS": {
-      "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.",
-      "DisplayName": "Airspeed I2C bus",
+    "BATT2_ARM_VOLT": {
+      "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
+      "DisplayName": "Required arming voltage",
+      "Increment": "0.1",
+      "Units": "V",
+      "User": "Advanced"
+    },
+    "BATT2_CAPACITY": {
+      "Description": "Capacity of the battery in mAh when full",
+      "DisplayName": "Battery capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
+    },
+    "BATT2_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.",
+      "DisplayName": "Battery critical capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
+    },
+    "BATT2_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.",
+      "DisplayName": "Critical battery voltage",
+      "Increment": "0.1",
+      "Units": "V",
+      "User": "Standard"
+    },
+    "BATT2_CURR_MULT": {
+      "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
+      "DisplayName": "Scales reported power monitor current",
+      "Range": {
+        "high": "10",
+        "low": ".1"
+      },
+      "User": "Advanced"
+    },
+    "BATT2_CURR_PIN": {
+      "Description": "Sets the analog input pin that should be used for current monitoring.",
+      "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
-      "User": "Advanced",
+      "User": "Standard",
       "Values": {
-        "0": "Bus0",
-        "1": "Bus1",
-        "2": "Bus2"
+        "-1": "Disabled",
+        "101": "PX4-v1",
+        "14": "Pixhawk2_PM2",
+        "15": "CubeOrange",
+        "17": "Durandal",
+        "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
+        "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "ARSPD2_DEVID": {
-      "Description": "Airspeed sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Airspeed ID",
-      "ReadOnly": "True",
+    "BATT2_ESC_INDEX": {
+      "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
+      "DisplayName": "ESC Telemetry Index to write to",
+      "Increment": "1",
+      "Range": {
+        "high": "10",
+        "low": "0"
+      },
       "User": "Advanced"
     },
-    "ARSPD2_OFFSET": {
-      "Description": "Airspeed calibration offset",
-      "DisplayName": "Airspeed offset",
-      "Increment": "0.1",
+    "BATT2_FL_FF": {
+      "Description": "First order polynomial fit term",
+      "DisplayName": "First order term",
+      "Range": {
+        "high": "10",
+        "low": "0"
+      },
       "User": "Advanced"
     },
-    "ARSPD2_PIN": {
-      "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. ",
-      "DisplayName": "Airspeed pin",
+    "BATT2_FL_FLTR": {
+      "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
+      "DisplayName": "Fuel level filter frequency",
+      "Range": {
+        "high": "1",
+        "low": "-1"
+      },
+      "RebootRequired": "True",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "ARSPD2_PSI_RANGE": {
-      "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device",
-      "DisplayName": "The PSI range of the device",
+    "BATT2_FL_FS": {
+      "Description": "Second order polynomial fit term",
+      "DisplayName": "Second order term",
+      "Range": {
+        "high": "10",
+        "low": "0"
+      },
       "User": "Advanced"
     },
-    "ARSPD2_RATIO": {
-      "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.",
-      "DisplayName": "Airspeed ratio",
-      "Increment": "0.1",
+    "BATT2_FL_FT": {
+      "Description": "Third order polynomial fit term",
+      "DisplayName": "Third order term",
+      "Range": {
+        "high": "10",
+        "low": "0"
+      },
       "User": "Advanced"
     },
-    "ARSPD2_SKIP_CAL": {
-      "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.",
-      "DisplayName": "Skip airspeed offset calibration on startup",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disable",
-        "1": "Enable"
-      }
+    "BATT2_FL_OFF": {
+      "Description": "Offset polynomial fit term",
+      "DisplayName": "Offset term",
+      "Range": {
+        "high": "10",
+        "low": "0"
+      },
+      "User": "Advanced"
     },
-    "ARSPD2_TUBE_ORDR": {
-      "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 first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.",
-      "DisplayName": "Control pitot tube order",
-      "User": "Advanced",
+    "BATT2_FL_PIN": {
+      "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
+      "DisplayName": "Fuel level analog pin number",
       "Values": {
-        "0": "Normal",
-        "1": "Swapped",
-        "2": "Auto Detect"
+        "-1": "Not Used",
+        "103": "Pixhawk SBUS",
+        "11": "Pixracer",
+        "13": "Pixhawk ADC4",
+        "14": "Pixhawk ADC3",
+        "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "ARSPD2_TYPE": {
-      "Description": "Type of airspeed sensor",
-      "DisplayName": "Airspeed type",
+    "BATT2_FL_VLT_MIN": {
+      "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
+      "DisplayName": "Empty fuel level voltage",
+      "Range": {
+        "high": "10",
+        "low": "0.01"
+      },
+      "Units": "V",
+      "User": "Advanced"
+    },
+    "BATT2_FL_V_MULT": {
+      "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
+      "DisplayName": "Fuel level voltage multiplier",
+      "Range": {
+        "high": "10",
+        "low": "0.01"
+      },
+      "User": "Advanced"
+    },
+    "BATT2_FS_CRT_ACT": {
+      "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
+      "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
       "Values": {
         "0": "None",
-        "1": "I2C-MS4525D0",
-        "10": "I2C-DLVR-20in",
-        "100": "SITL",
-        "11": "I2C-DLVR-30in",
-        "12": "I2C-DLVR-60in",
-        "13": "NMEA water speed",
-        "14": "MSP",
-        "15": "ASP5033",
-        "16": "ExternalAHRS",
-        "2": "Analog",
-        "3": "I2C-MS5525",
-        "4": "I2C-MS5525 (0x76)",
-        "5": "I2C-MS5525 (0x77)",
-        "6": "I2C-SDP3X",
-        "7": "I2C-DLVR-5in",
-        "8": "DroneCAN",
-        "9": "I2C-DLVR-10in"
+        "2": "Disarm",
+        "3": "Enter surface mode"
       }
     },
-    "ARSPD2_USE": {
-      "Description": "This parameter is not used by this vehicle. Always set to 0.",
-      "DisplayName": "Airspeed use",
+    "BATT2_FS_LOW_ACT": {
+      "Description": "What action the vehicle should perform if it hits a low battery failsafe",
+      "DisplayName": "Low battery failsafe action",
       "User": "Standard",
       "Values": {
-        "0": "DoNotUse",
-        "1": "Use",
-        "2": "UseWhenZeroThrottle"
+        "0": "None",
+        "2": "Disarm",
+        "3": "Enter surface mode"
       }
-    }
-  },
-  "ARSPD_": {
-    "ARSPD_AUTOCAL": {
-      "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.",
-      "DisplayName": "This parameter and function is not used by this vehicle. Always set to 0.",
-      "User": "Advanced"
     },
-    "ARSPD_BUS": {
-      "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.",
-      "DisplayName": "Airspeed I2C bus",
-      "RebootRequired": "True",
+    "BATT2_FS_VOLTSRC": {
+      "Description": "Voltage type used for detection of low voltage event",
+      "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
       "Values": {
-        "0": "Bus0",
-        "1": "Bus1",
-        "2": "Bus2"
+        "0": "Raw Voltage",
+        "1": "Sag Compensated Voltage"
       }
     },
-    "ARSPD_DEVID": {
-      "Description": "Airspeed sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Airspeed ID",
-      "ReadOnly": "True",
-      "User": "Advanced"
-    },
-    "ARSPD_OFFSET": {
-      "Description": "Airspeed calibration offset",
-      "DisplayName": "Airspeed offset",
-      "Increment": "0.1",
+    "BATT2_I2C_ADDR": {
+      "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
+      "DisplayName": "Battery monitor I2C address",
+      "Range": {
+        "high": "127",
+        "low": "0"
+      },
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "ARSPD_PIN": {
-      "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. ",
-      "DisplayName": "Airspeed pin",
+    "BATT2_I2C_BUS": {
+      "Description": "Battery monitor I2C bus number",
+      "DisplayName": "Battery monitor I2C bus number",
+      "Range": {
+        "high": "3",
+        "low": "0"
+      },
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "ARSPD_PSI_RANGE": {
-      "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device",
-      "DisplayName": "The PSI range of the device",
-      "User": "Advanced"
+    "BATT2_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.",
+      "DisplayName": "Low battery capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
     },
-    "ARSPD_RATIO": {
-      "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.",
-      "DisplayName": "Airspeed ratio",
-      "Increment": "0.1",
+    "BATT2_LOW_TIMER": {
+      "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
+      "DisplayName": "Low voltage timeout",
+      "Increment": "1",
+      "Range": {
+        "high": "120",
+        "low": "0"
+      },
+      "Units": "s",
       "User": "Advanced"
     },
-    "ARSPD_SKIP_CAL": {
-      "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.",
-      "DisplayName": "Skip airspeed offset calibration on startup",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disable",
-        "1": "Enable"
-      }
-    },
-    "ARSPD_TUBE_ORDR": {
-      "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 first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.",
-      "DisplayName": "Control pitot tube order",
-      "User": "Advanced",
-      "Values": {
-        "0": "Normal",
-        "1": "Swapped",
-        "2": "Auto Detect"
-      }
-    },
-    "ARSPD_TYPE": {
-      "Description": "Type of airspeed sensor",
-      "DisplayName": "Airspeed type",
-      "User": "Standard",
-      "Values": {
-        "0": "None",
-        "1": "I2C-MS4525D0",
-        "10": "I2C-DLVR-20in",
-        "100": "SITL",
-        "11": "I2C-DLVR-30in",
-        "12": "I2C-DLVR-60in",
-        "13": "NMEA water speed",
-        "14": "MSP",
-        "15": "ASP5033",
-        "16": "ExternalAHRS",
-        "2": "Analog",
-        "3": "I2C-MS5525",
-        "4": "I2C-MS5525 (0x76)",
-        "5": "I2C-MS5525 (0x77)",
-        "6": "I2C-SDP3X",
-        "7": "I2C-DLVR-5in",
-        "8": "DroneCAN",
-        "9": "I2C-DLVR-10in"
-      }
+    "BATT2_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.",
+      "DisplayName": "Low battery voltage",
+      "Increment": "0.1",
+      "Units": "V",
+      "User": "Standard"
     },
-    "ARSPD_USE": {
-      "Description": "This parameter is not used by this vehicle. Always set to 0.",
-      "DisplayName": "Airspeed use",
-      "User": "Standard",
-      "Values": {
-        "0": "DoNotUse",
-        "1": "Use",
-        "2": "UseWhenZeroThrottle"
-      }
-    }
-  },
-  "ATC_": {
-    "ATC_ACCEL_P_MAX": {
-      "Description": "Maximum acceleration in pitch axis",
-      "DisplayName": "Acceleration Max for Pitch",
-      "Increment": "1000",
+    "BATT2_MAX_AMPS": {
+      "Description": "This controls the maximum current the INS2XX sensor will work with.",
+      "DisplayName": "Battery monitor max current",
       "Range": {
-        "high": "180000",
-        "low": "0"
+        "high": "400",
+        "low": "1"
       },
-      "Units": "cdeg/s/s",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "108000": "Medium",
-        "162000": "Fast",
-        "30000": "VerySlow",
-        "72000": "Slow"
-      }
+      "Units": "A",
+      "User": "Advanced"
     },
-    "ATC_ACCEL_R_MAX": {
-      "Description": "Maximum acceleration in roll axis",
-      "DisplayName": "Acceleration Max for Roll",
-      "Increment": "1000",
+    "BATT2_MAX_VOLT": {
+      "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
+      "DisplayName": "Maximum Battery Voltage",
       "Range": {
-        "high": "180000",
-        "low": "0"
+        "high": "100",
+        "low": "7"
       },
-      "Units": "cdeg/s/s",
-      "User": "Advanced",
+      "User": "Advanced"
+    },
+    "BATT2_MONITOR": {
+      "Description": "Controls enabling monitoring of the battery's voltage and current",
+      "DisplayName": "Battery monitoring",
+      "RebootRequired": "True",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
-        "108000": "Medium",
-        "162000": "Fast",
-        "30000": "VerySlow",
-        "72000": "Slow"
+        "10": "Sum Of Selected Monitors",
+        "11": "FuelFlow",
+        "12": "FuelLevelPWM",
+        "13": "SMBUS-SUI3",
+        "14": "SMBUS-SUI6",
+        "15": "NeoDesign",
+        "16": "SMBus-Maxell",
+        "17": "Generator-Elec",
+        "18": "Generator-Fuel",
+        "19": "Rotoye",
+        "20": "MPPT",
+        "21": "INA2XX",
+        "22": "LTC2946",
+        "23": "Torqeedo",
+        "24": "FuelLevelAnalog",
+        "25": "Synthetic Current and Analog Voltage",
+        "26": "INA239_SPI",
+        "27": "EFI",
+        "28": "AD7091R5",
+        "29": "Scripting",
+        "3": "Analog Voltage Only",
+        "4": "Analog Voltage and Current",
+        "5": "Solo",
+        "6": "Bebop",
+        "7": "SMBus-Generic",
+        "8": "DroneCAN-BatteryInfo",
+        "9": "ESC"
       }
     },
-    "ATC_ACCEL_Y_MAX": {
-      "Description": "Maximum acceleration in yaw axis",
-      "DisplayName": "Acceleration Max for Yaw",
-      "Increment": "1000",
-      "Range": {
-        "high": "72000",
-        "low": "0"
+    "BATT2_OPTIONS": {
+      "Bitmask": {
+        "0": "Ignore DroneCAN SoC",
+        "1": "MPPT reports input voltage and current",
+        "2": "MPPT Powered off when disarmed",
+        "3": "MPPT Powered on when armed",
+        "4": "MPPT Powered off at boot",
+        "5": "MPPT Powered on at boot",
+        "6": "Send resistance compensated voltage to GCS",
+        "7": "Allow DroneCAN InfoAux to be from a different CAN node"
       },
-      "Units": "cdeg/s/s",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "18000": "Slow",
-        "36000": "Medium",
-        "54000": "Fast",
-        "9000": "VerySlow"
-      }
+      "Description": "This sets options to change the behaviour of the battery monitor",
+      "DisplayName": "Battery monitor options",
+      "User": "Advanced"
     },
-    "ATC_ANGLE_BOOST": {
-      "Description": "Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude",
-      "DisplayName": "Angle Boost",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
+    "BATT2_SERIAL_NUM": {
+      "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
+      "DisplayName": "Battery serial number",
+      "User": "Advanced"
     },
-    "ATC_ANG_LIM_TC": {
-      "Description": "Angle Limit (to maintain altitude) Time Constant",
-      "DisplayName": "Angle Limit (to maintain altitude) Time Constant",
+    "BATT2_SHUNT": {
+      "Description": "This sets the shunt resistor used in the device",
+      "DisplayName": "Battery monitor shunt resistor",
       "Range": {
-        "high": "10.0",
-        "low": "0.5"
+        "high": "0.01",
+        "low": "0.0001"
       },
+      "Units": "Ohm",
       "User": "Advanced"
     },
-    "ATC_ANG_PIT_P": {
-      "Description": "Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate",
-      "DisplayName": "Pitch axis angle controller P gain",
-      "Range": {
-        "high": "12.000",
-        "low": "0.0"
+    "BATT2_SUM_MASK": {
+      "Bitmask": {
+        "0": "monitor 1",
+        "1": "monitor 2",
+        "2": "monitor 3",
+        "3": "monitor 4",
+        "4": "monitor 5",
+        "5": "monitor 6",
+        "6": "monitor 7",
+        "7": "monitor 8",
+        "8": "monitor 9"
       },
+      "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.",
+      "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "ATC_ANG_RLL_P": {
-      "Description": "Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate",
-      "DisplayName": "Roll axis angle controller P gain",
-      "Range": {
-        "high": "12.000",
-        "low": "0.0"
-      },
-      "User": "Standard"
+    "BATT2_VLT_OFFSET": {
+      "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
+      "DisplayName": "Voltage offset",
+      "Units": "V",
+      "User": "Advanced"
     },
-    "ATC_ANG_YAW_P": {
-      "Description": "Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate",
-      "DisplayName": "Yaw axis angle controller P gain",
-      "Range": {
-        "high": "6.000",
-        "low": "0.0"
-      },
-      "User": "Standard"
+    "BATT2_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+      "DisplayName": "Voltage Multiplier",
+      "User": "Advanced"
     },
-    "ATC_INPUT_TC": {
-      "Description": "Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response",
-      "DisplayName": "Attitude control input time constant",
-      "Increment": "0.01",
-      "Range": {
-        "high": "1",
-        "low": "0"
-      },
-      "Units": "s",
+    "BATT2_VOLT_PIN": {
+      "Description": "Sets the analog input pin that should be used for voltage monitoring.",
+      "DisplayName": "Battery Voltage sensing pin",
+      "RebootRequired": "True",
       "User": "Standard",
       "Values": {
-        "0.05": "Very Crisp",
-        "0.1": "Crisp",
-        "0.15": "Medium",
-        "0.2": "Soft",
-        "0.5": "Very Soft"
+        "-1": "Disabled",
+        "100": "PX4-v1",
+        "13": "Pixhawk2_PM2/CubeOrange_PM2",
+        "14": "CubeOrange",
+        "16": "Durandal",
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
+        "5": "Navigator"
       }
+    }
+  },
+  "BATT3_": {
+    "BATT3_AMP_OFFSET": {
+      "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
+      "DisplayName": "AMP offset",
+      "Units": "V",
+      "User": "Standard"
     },
-    "ATC_RATE_FF_ENAB": {
-      "Description": "Controls whether body-frame rate feedforward is enabled or disabled",
-      "DisplayName": "Rate Feedforward Enable",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
+    "BATT3_AMP_PERVLT": {
+      "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
+      "DisplayName": "Amps per volt",
+      "Units": "A/V",
+      "User": "Standard"
     },
-    "ATC_RATE_P_MAX": {
-      "Description": "Maximum angular velocity in pitch axis",
-      "DisplayName": "Angular Velocity Max for Pitch",
-      "Increment": "1",
+    "BATT3_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.",
+      "DisplayName": "Required arming remaining capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Advanced"
+    },
+    "BATT3_ARM_VOLT": {
+      "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
+      "DisplayName": "Required arming voltage",
+      "Increment": "0.1",
+      "Units": "V",
+      "User": "Advanced"
+    },
+    "BATT3_CAPACITY": {
+      "Description": "Capacity of the battery in mAh when full",
+      "DisplayName": "Battery capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
+    },
+    "BATT3_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.",
+      "DisplayName": "Battery critical capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
+    },
+    "BATT3_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.",
+      "DisplayName": "Critical battery voltage",
+      "Increment": "0.1",
+      "Units": "V",
+      "User": "Standard"
+    },
+    "BATT3_CURR_MULT": {
+      "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
+      "DisplayName": "Scales reported power monitor current",
       "Range": {
-        "high": "1080",
-        "low": "0"
+        "high": "10",
+        "low": ".1"
       },
-      "Units": "deg/s",
-      "User": "Advanced",
+      "User": "Advanced"
+    },
+    "BATT3_CURR_PIN": {
+      "Description": "Sets the analog input pin that should be used for current monitoring.",
+      "DisplayName": "Battery Current sensing pin",
+      "RebootRequired": "True",
+      "User": "Standard",
       "Values": {
-        "0": "Disabled",
-        "180": "Medium",
-        "360": "Fast",
-        "60": "Slow"
+        "-1": "Disabled",
+        "101": "PX4-v1",
+        "14": "Pixhawk2_PM2",
+        "15": "CubeOrange",
+        "17": "Durandal",
+        "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
+        "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "ATC_RATE_R_MAX": {
-      "Description": "Maximum angular velocity in roll axis",
-      "DisplayName": "Angular Velocity Max for Roll",
+    "BATT3_ESC_INDEX": {
+      "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
+      "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
       "Range": {
-        "high": "1080",
+        "high": "10",
         "low": "0"
       },
-      "Units": "deg/s",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "180": "Medium",
-        "360": "Fast",
-        "60": "Slow"
-      }
+      "User": "Advanced"
     },
-    "ATC_RATE_Y_MAX": {
-      "Description": "Maximum angular velocity in yaw axis",
-      "DisplayName": "Angular Velocity Max for Yaw",
-      "Increment": "1",
+    "BATT3_FL_FF": {
+      "Description": "First order polynomial fit term",
+      "DisplayName": "First order term",
       "Range": {
-        "high": "1080",
+        "high": "10",
         "low": "0"
       },
-      "Units": "deg/s",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "180": "Medium",
-        "360": "Fast",
-        "60": "Slow"
-      }
+      "User": "Advanced"
     },
-    "ATC_RAT_PIT_D": {
-      "Description": "Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate",
-      "DisplayName": "Pitch axis rate controller D gain",
-      "Increment": "0.001",
+    "BATT3_FL_FLTR": {
+      "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
+      "DisplayName": "Fuel level filter frequency",
       "Range": {
-        "high": "0.02",
-        "low": "0.0"
+        "high": "1",
+        "low": "-1"
       },
-      "User": "Standard"
+      "RebootRequired": "True",
+      "Units": "Hz",
+      "User": "Advanced"
     },
-    "ATC_RAT_PIT_D_FF": {
-      "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target",
-      "DisplayName": "Pitch Derivative FeedForward Gain",
-      "Increment": "0.0001",
+    "BATT3_FL_FS": {
+      "Description": "Second order polynomial fit term",
+      "DisplayName": "Second order term",
       "Range": {
-        "high": "0.02",
+        "high": "10",
         "low": "0"
       },
       "User": "Advanced"
     },
-    "ATC_RAT_PIT_FF": {
-      "Description": "Pitch axis rate controller feed forward",
-      "DisplayName": "Pitch axis rate controller feed forward",
-      "Increment": "0.001",
+    "BATT3_FL_FT": {
+      "Description": "Third order polynomial fit term",
+      "DisplayName": "Third order term",
       "Range": {
-        "high": "0.5",
+        "high": "10",
         "low": "0"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ATC_RAT_PIT_FILT": {
-      "Description": "Pitch axis rate controller input frequency in Hz",
-      "DisplayName": "Pitch axis rate controller input frequency in Hz",
-      "Increment": "1",
+    "BATT3_FL_OFF": {
+      "Description": "Offset polynomial fit term",
+      "DisplayName": "Offset term",
       "Range": {
-        "high": "100",
-        "low": "1"
+        "high": "10",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ATC_RAT_PIT_FLTD": {
-      "Description": "Pitch axis rate controller input frequency in Hz",
-      "DisplayName": "Pitch axis rate controller input frequency in Hz",
-      "Increment": "1",
+    "BATT3_FL_PIN": {
+      "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
+      "DisplayName": "Fuel level analog pin number",
+      "Values": {
+        "-1": "Not Used",
+        "103": "Pixhawk SBUS",
+        "11": "Pixracer",
+        "13": "Pixhawk ADC4",
+        "14": "Pixhawk ADC3",
+        "15": "Pixhawk ADC6/Pixhawk2 ADC"
+      }
+    },
+    "BATT3_FL_VLT_MIN": {
+      "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
+      "DisplayName": "Empty fuel level voltage",
       "Range": {
-        "high": "100",
-        "low": "1"
+        "high": "10",
+        "low": "0.01"
       },
-      "Units": "Hz",
-      "User": "Standard"
+      "Units": "V",
+      "User": "Advanced"
     },
-    "ATC_RAT_PIT_FLTE": {
-      "Description": "Pitch axis rate controller input frequency in Hz",
-      "DisplayName": "Pitch axis rate controller input frequency in Hz",
-      "Increment": "1",
+    "BATT3_FL_V_MULT": {
+      "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
+      "DisplayName": "Fuel level voltage multiplier",
       "Range": {
-        "high": "100",
-        "low": "1"
+        "high": "10",
+        "low": "0.01"
       },
-      "Units": "Hz",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ATC_RAT_PIT_FLTT": {
-      "Description": "Pitch axis rate controller input frequency in Hz",
-      "DisplayName": "Pitch axis rate controller input frequency in Hz",
-      "Increment": "1",
-      "Range": {
-        "high": "100",
-        "low": "1"
-      },
-      "Units": "Hz",
-      "User": "Standard"
+    "BATT3_FS_CRT_ACT": {
+      "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
+      "DisplayName": "Critical battery failsafe action",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "2": "Disarm",
+        "3": "Enter surface mode"
+      }
     },
-    "ATC_RAT_PIT_I": {
-      "Description": "Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate",
-      "DisplayName": "Pitch axis rate controller I gain",
-      "Increment": "0.01",
-      "Range": {
-        "high": "0.5",
-        "low": "0.0"
-      },
-      "User": "Standard"
+    "BATT3_FS_LOW_ACT": {
+      "Description": "What action the vehicle should perform if it hits a low battery failsafe",
+      "DisplayName": "Low battery failsafe action",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "2": "Disarm",
+        "3": "Enter surface mode"
+      }
     },
-    "ATC_RAT_PIT_IMAX": {
-      "Description": "Pitch axis rate controller I gain maximum.  Constrains the maximum that the I term will output",
-      "DisplayName": "Pitch axis rate controller I gain maximum",
-      "Increment": "0.01",
-      "Range": {
-        "high": "1",
-        "low": "0"
-      },
-      "User": "Standard"
+    "BATT3_FS_VOLTSRC": {
+      "Description": "Voltage type used for detection of low voltage event",
+      "DisplayName": "Failsafe voltage source",
+      "User": "Advanced",
+      "Values": {
+        "0": "Raw Voltage",
+        "1": "Sag Compensated Voltage"
+      }
     },
-    "ATC_RAT_PIT_NEF": {
-      "Description": "Pitch Error notch filter index",
-      "DisplayName": "Pitch Error notch filter index",
+    "BATT3_I2C_ADDR": {
+      "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
+      "DisplayName": "Battery monitor I2C address",
       "Range": {
-        "high": "8",
-        "low": "1"
+        "high": "127",
+        "low": "0"
       },
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "ATC_RAT_PIT_NTF": {
-      "Description": "Pitch Target notch filter index",
-      "DisplayName": "Pitch Target notch filter index",
+    "BATT3_I2C_BUS": {
+      "Description": "Battery monitor I2C bus number",
+      "DisplayName": "Battery monitor I2C bus number",
       "Range": {
-        "high": "8",
-        "low": "1"
+        "high": "3",
+        "low": "0"
       },
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "ATC_RAT_PIT_P": {
-      "Description": "Pitch axis rate controller P gain.  Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate",
-      "DisplayName": "Pitch axis rate controller P gain",
-      "Increment": "0.005",
-      "Range": {
-        "high": "0.30",
-        "low": "0.0"
-      },
+    "BATT3_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.",
+      "DisplayName": "Low battery capacity",
+      "Increment": "50",
+      "Units": "mAh",
       "User": "Standard"
     },
-    "ATC_RAT_PIT_PDMX": {
-      "Description": "Pitch axis rate controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output",
-      "DisplayName": "Pitch axis rate controller PD sum maximum",
-      "Increment": "0.01",
-      "Range": {
-        "high": "1",
-        "low": "0"
-      }
-    },
-    "ATC_RAT_PIT_SMAX": {
-      "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.",
-      "DisplayName": "Pitch slew rate limit",
-      "Increment": "0.5",
+    "BATT3_LOW_TIMER": {
+      "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
+      "DisplayName": "Low voltage timeout",
+      "Increment": "1",
       "Range": {
-        "high": "200",
+        "high": "120",
         "low": "0"
       },
+      "Units": "s",
       "User": "Advanced"
     },
-    "ATC_RAT_RLL_D": {
-      "Description": "Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate",
-      "DisplayName": "Roll axis rate controller D gain",
-      "Increment": "0.001",
-      "Range": {
-        "high": "0.02",
-        "low": "0.0"
-      },
+    "BATT3_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.",
+      "DisplayName": "Low battery voltage",
+      "Increment": "0.1",
+      "Units": "V",
       "User": "Standard"
     },
-    "ATC_RAT_RLL_D_FF": {
-      "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target",
-      "DisplayName": "Roll Derivative FeedForward Gain",
-      "Increment": "0.0001",
+    "BATT3_MAX_AMPS": {
+      "Description": "This controls the maximum current the INS2XX sensor will work with.",
+      "DisplayName": "Battery monitor max current",
       "Range": {
-        "high": "0.02",
-        "low": "0"
+        "high": "400",
+        "low": "1"
       },
+      "Units": "A",
       "User": "Advanced"
     },
-    "ATC_RAT_RLL_FF": {
-      "Description": "Roll axis rate controller feed forward",
-      "DisplayName": "Roll axis rate controller feed forward",
-      "Increment": "0.001",
-      "Range": {
-        "high": "0.5",
-        "low": "0"
-      },
-      "User": "Standard"
-    },
-    "ATC_RAT_RLL_FILT": {
-      "Description": "Roll axis rate controller input frequency in Hz",
-      "DisplayName": "Roll axis rate controller input frequency in Hz",
-      "Increment": "1",
+    "BATT3_MAX_VOLT": {
+      "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
+      "DisplayName": "Maximum Battery Voltage",
       "Range": {
         "high": "100",
-        "low": "1"
+        "low": "7"
       },
-      "Units": "Hz",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ATC_RAT_RLL_FLTD": {
-      "Description": "Roll axis rate controller input frequency in Hz",
-      "DisplayName": "Roll axis rate controller input frequency in Hz",
-      "Increment": "1",
-      "Range": {
-        "high": "100",
-        "low": "1"
+    "BATT3_MONITOR": {
+      "Description": "Controls enabling monitoring of the battery's voltage and current",
+      "DisplayName": "Battery monitoring",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "10": "Sum Of Selected Monitors",
+        "11": "FuelFlow",
+        "12": "FuelLevelPWM",
+        "13": "SMBUS-SUI3",
+        "14": "SMBUS-SUI6",
+        "15": "NeoDesign",
+        "16": "SMBus-Maxell",
+        "17": "Generator-Elec",
+        "18": "Generator-Fuel",
+        "19": "Rotoye",
+        "20": "MPPT",
+        "21": "INA2XX",
+        "22": "LTC2946",
+        "23": "Torqeedo",
+        "24": "FuelLevelAnalog",
+        "25": "Synthetic Current and Analog Voltage",
+        "26": "INA239_SPI",
+        "27": "EFI",
+        "28": "AD7091R5",
+        "29": "Scripting",
+        "3": "Analog Voltage Only",
+        "4": "Analog Voltage and Current",
+        "5": "Solo",
+        "6": "Bebop",
+        "7": "SMBus-Generic",
+        "8": "DroneCAN-BatteryInfo",
+        "9": "ESC"
+      }
+    },
+    "BATT3_OPTIONS": {
+      "Bitmask": {
+        "0": "Ignore DroneCAN SoC",
+        "1": "MPPT reports input voltage and current",
+        "2": "MPPT Powered off when disarmed",
+        "3": "MPPT Powered on when armed",
+        "4": "MPPT Powered off at boot",
+        "5": "MPPT Powered on at boot",
+        "6": "Send resistance compensated voltage to GCS",
+        "7": "Allow DroneCAN InfoAux to be from a different CAN node"
       },
-      "Units": "Hz",
-      "User": "Standard"
+      "Description": "This sets options to change the behaviour of the battery monitor",
+      "DisplayName": "Battery monitor options",
+      "User": "Advanced"
     },
-    "ATC_RAT_RLL_FLTE": {
-      "Description": "Roll axis rate controller input frequency in Hz",
-      "DisplayName": "Roll axis rate controller input frequency in Hz",
-      "Increment": "1",
+    "BATT3_SERIAL_NUM": {
+      "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
+      "DisplayName": "Battery serial number",
+      "User": "Advanced"
+    },
+    "BATT3_SHUNT": {
+      "Description": "This sets the shunt resistor used in the device",
+      "DisplayName": "Battery monitor shunt resistor",
       "Range": {
-        "high": "100",
-        "low": "1"
+        "high": "0.01",
+        "low": "0.0001"
       },
-      "Units": "Hz",
-      "User": "Standard"
+      "Units": "Ohm",
+      "User": "Advanced"
     },
-    "ATC_RAT_RLL_FLTT": {
-      "Description": "Roll axis rate controller input frequency in Hz",
-      "DisplayName": "Roll axis rate controller input frequency in Hz",
-      "Increment": "1",
-      "Range": {
-        "high": "100",
-        "low": "1"
+    "BATT3_SUM_MASK": {
+      "Bitmask": {
+        "0": "monitor 1",
+        "1": "monitor 2",
+        "2": "monitor 3",
+        "3": "monitor 4",
+        "4": "monitor 5",
+        "5": "monitor 6",
+        "6": "monitor 7",
+        "7": "monitor 8",
+        "8": "monitor 9"
       },
-      "Units": "Hz",
+      "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.",
+      "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "ATC_RAT_RLL_I": {
-      "Description": "Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate",
-      "DisplayName": "Roll axis rate controller I gain",
-      "Increment": "0.01",
-      "Range": {
-        "high": "0.5",
-        "low": "0.0"
-      },
+    "BATT3_VLT_OFFSET": {
+      "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
+      "DisplayName": "Voltage offset",
+      "Units": "V",
+      "User": "Advanced"
+    },
+    "BATT3_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+      "DisplayName": "Voltage Multiplier",
+      "User": "Advanced"
+    },
+    "BATT3_VOLT_PIN": {
+      "Description": "Sets the analog input pin that should be used for voltage monitoring.",
+      "DisplayName": "Battery Voltage sensing pin",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "100": "PX4-v1",
+        "13": "Pixhawk2_PM2/CubeOrange_PM2",
+        "14": "CubeOrange",
+        "16": "Durandal",
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
+        "5": "Navigator"
+      }
+    }
+  },
+  "BATT4_": {
+    "BATT4_AMP_OFFSET": {
+      "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
+      "DisplayName": "AMP offset",
+      "Units": "V",
       "User": "Standard"
     },
-    "ATC_RAT_RLL_IMAX": {
-      "Description": "Roll axis rate controller I gain maximum.  Constrains the maximum that the I term will output",
-      "DisplayName": "Roll axis rate controller I gain maximum",
-      "Increment": "0.01",
-      "Range": {
-        "high": "1",
-        "low": "0"
-      },
+    "BATT4_AMP_PERVLT": {
+      "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
+      "DisplayName": "Amps per volt",
+      "Units": "A/V",
       "User": "Standard"
     },
-    "ATC_RAT_RLL_NEF": {
-      "Description": "Roll Error notch filter index",
-      "DisplayName": "Roll Error notch filter index",
-      "Range": {
-        "high": "8",
-        "low": "1"
-      },
+    "BATT4_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.",
+      "DisplayName": "Required arming remaining capacity",
+      "Increment": "50",
+      "Units": "mAh",
       "User": "Advanced"
     },
-    "ATC_RAT_RLL_NTF": {
-      "Description": "Roll Target notch filter index",
-      "DisplayName": "Roll Target notch filter index",
-      "Range": {
-        "high": "8",
-        "low": "1"
-      },
+    "BATT4_ARM_VOLT": {
+      "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
+      "DisplayName": "Required arming voltage",
+      "Increment": "0.1",
+      "Units": "V",
       "User": "Advanced"
     },
-    "ATC_RAT_RLL_P": {
-      "Description": "Roll axis rate controller P gain.  Corrects in proportion to the difference between the desired roll rate vs actual roll rate",
-      "DisplayName": "Roll axis rate controller P gain",
-      "Increment": "0.005",
-      "Range": {
-        "high": "0.30",
-        "low": "0.0"
-      },
+    "BATT4_CAPACITY": {
+      "Description": "Capacity of the battery in mAh when full",
+      "DisplayName": "Battery capacity",
+      "Increment": "50",
+      "Units": "mAh",
       "User": "Standard"
     },
-    "ATC_RAT_RLL_PDMX": {
-      "Description": "Roll axis rate controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output",
-      "DisplayName": "Roll axis rate controller PD sum maximum",
-      "Increment": "0.01",
-      "Range": {
-        "high": "1",
-        "low": "0"
-      }
+    "BATT4_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.",
+      "DisplayName": "Battery critical capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
     },
-    "ATC_RAT_RLL_SMAX": {
-      "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.",
-      "DisplayName": "Roll slew rate limit",
-      "Increment": "0.5",
+    "BATT4_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.",
+      "DisplayName": "Critical battery voltage",
+      "Increment": "0.1",
+      "Units": "V",
+      "User": "Standard"
+    },
+    "BATT4_CURR_MULT": {
+      "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
+      "DisplayName": "Scales reported power monitor current",
       "Range": {
-        "high": "200",
-        "low": "0"
+        "high": "10",
+        "low": ".1"
       },
       "User": "Advanced"
     },
-    "ATC_RAT_YAW_D": {
-      "Description": "Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate",
-      "DisplayName": "Yaw axis rate controller D gain",
-      "Increment": "0.001",
-      "Range": {
-        "high": "0.02",
-        "low": "0.000"
-      },
-      "User": "Standard"
+    "BATT4_CURR_PIN": {
+      "Description": "Sets the analog input pin that should be used for current monitoring.",
+      "DisplayName": "Battery Current sensing pin",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "101": "PX4-v1",
+        "14": "Pixhawk2_PM2",
+        "15": "CubeOrange",
+        "17": "Durandal",
+        "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
+        "4": "CubeOrange_PM2/Navigator"
+      }
     },
-    "ATC_RAT_YAW_D_FF": {
-      "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target",
-      "DisplayName": "Yaw Derivative FeedForward Gain",
-      "Increment": "0.0001",
+    "BATT4_ESC_INDEX": {
+      "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
+      "DisplayName": "ESC Telemetry Index to write to",
+      "Increment": "1",
       "Range": {
-        "high": "0.02",
+        "high": "10",
         "low": "0"
       },
       "User": "Advanced"
     },
-    "ATC_RAT_YAW_FF": {
-      "Description": "Yaw axis rate controller feed forward",
-      "DisplayName": "Yaw axis rate controller feed forward",
-      "Increment": "0.001",
+    "BATT4_FL_FF": {
+      "Description": "First order polynomial fit term",
+      "DisplayName": "First order term",
       "Range": {
-        "high": "0.5",
+        "high": "10",
         "low": "0"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ATC_RAT_YAW_FILT": {
-      "Description": "Yaw axis rate controller input frequency in Hz",
-      "DisplayName": "Yaw axis rate controller input frequency in Hz",
-      "Increment": "1",
+    "BATT4_FL_FLTR": {
+      "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
+      "DisplayName": "Fuel level filter frequency",
       "Range": {
-        "high": "100",
-        "low": "1"
+        "high": "1",
+        "low": "-1"
       },
+      "RebootRequired": "True",
       "Units": "Hz",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ATC_RAT_YAW_FLTD": {
-      "Description": "Yaw axis rate controller input frequency in Hz",
-      "DisplayName": "Yaw axis rate controller input frequency in Hz",
-      "Increment": "1",
+    "BATT4_FL_FS": {
+      "Description": "Second order polynomial fit term",
+      "DisplayName": "Second order term",
       "Range": {
-        "high": "100",
-        "low": "1"
+        "high": "10",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ATC_RAT_YAW_FLTE": {
-      "Description": "Yaw axis rate controller input frequency in Hz",
-      "DisplayName": "Yaw axis rate controller input frequency in Hz",
-      "Increment": "1",
+    "BATT4_FL_FT": {
+      "Description": "Third order polynomial fit term",
+      "DisplayName": "Third order term",
       "Range": {
-        "high": "100",
-        "low": "1"
+        "high": "10",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ATC_RAT_YAW_FLTT": {
-      "Description": "Yaw axis rate controller input frequency in Hz",
-      "DisplayName": "Yaw axis rate controller input frequency in Hz",
-      "Increment": "1",
+    "BATT4_FL_OFF": {
+      "Description": "Offset polynomial fit term",
+      "DisplayName": "Offset term",
       "Range": {
-        "high": "100",
-        "low": "1"
+        "high": "10",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "ATC_RAT_YAW_I": {
-      "Description": "Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate",
-      "DisplayName": "Yaw axis rate controller I gain",
-      "Increment": "0.01",
-      "Range": {
-        "high": "0.05",
-        "low": "0.0"
-      },
-      "User": "Standard"
+    "BATT4_FL_PIN": {
+      "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
+      "DisplayName": "Fuel level analog pin number",
+      "Values": {
+        "-1": "Not Used",
+        "103": "Pixhawk SBUS",
+        "11": "Pixracer",
+        "13": "Pixhawk ADC4",
+        "14": "Pixhawk ADC3",
+        "15": "Pixhawk ADC6/Pixhawk2 ADC"
+      }
     },
-    "ATC_RAT_YAW_IMAX": {
-      "Description": "Yaw axis rate controller I gain maximum.  Constrains the maximum that the I term will output",
-      "DisplayName": "Yaw axis rate controller I gain maximum",
-      "Increment": "0.01",
+    "BATT4_FL_VLT_MIN": {
+      "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
+      "DisplayName": "Empty fuel level voltage",
       "Range": {
-        "high": "1",
-        "low": "0"
+        "high": "10",
+        "low": "0.01"
       },
-      "User": "Standard"
+      "Units": "V",
+      "User": "Advanced"
     },
-    "ATC_RAT_YAW_NEF": {
-      "Description": "Yaw Error notch filter index",
-      "DisplayName": "Yaw Error notch filter index",
+    "BATT4_FL_V_MULT": {
+      "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
+      "DisplayName": "Fuel level voltage multiplier",
       "Range": {
-        "high": "8",
-        "low": "1"
+        "high": "10",
+        "low": "0.01"
       },
       "User": "Advanced"
     },
-    "ATC_RAT_YAW_NTF": {
-      "Description": "Yaw Target notch filter index",
-      "DisplayName": "Yaw Target notch filter index",
-      "Range": {
-        "high": "8",
-        "low": "1"
-      },
-      "User": "Advanced"
+    "BATT4_FS_CRT_ACT": {
+      "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
+      "DisplayName": "Critical battery failsafe action",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "2": "Disarm",
+        "3": "Enter surface mode"
+      }
     },
-    "ATC_RAT_YAW_P": {
-      "Description": "Yaw axis rate controller P gain.  Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate",
-      "DisplayName": "Yaw axis rate controller P gain",
-      "Increment": "0.005",
-      "Range": {
-        "high": "0.50",
-        "low": "0.0"
-      },
-      "User": "Standard"
+    "BATT4_FS_LOW_ACT": {
+      "Description": "What action the vehicle should perform if it hits a low battery failsafe",
+      "DisplayName": "Low battery failsafe action",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "2": "Disarm",
+        "3": "Enter surface mode"
+      }
     },
-    "ATC_RAT_YAW_PDMX": {
-      "Description": "Yaw axis rate controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output",
-      "DisplayName": "Yaw axis rate controller PD sum maximum",
-      "Increment": "0.01",
-      "Range": {
-        "high": "1",
-        "low": "0"
+    "BATT4_FS_VOLTSRC": {
+      "Description": "Voltage type used for detection of low voltage event",
+      "DisplayName": "Failsafe voltage source",
+      "User": "Advanced",
+      "Values": {
+        "0": "Raw Voltage",
+        "1": "Sag Compensated Voltage"
       }
     },
-    "ATC_RAT_YAW_SMAX": {
-      "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.",
-      "DisplayName": "Yaw slew rate limit",
-      "Increment": "0.5",
+    "BATT4_I2C_ADDR": {
+      "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
+      "DisplayName": "Battery monitor I2C address",
       "Range": {
-        "high": "200",
+        "high": "127",
         "low": "0"
       },
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "ATC_SLEW_YAW": {
-      "Description": "Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes",
-      "DisplayName": "Yaw target slew rate",
-      "Increment": "100",
+    "BATT4_I2C_BUS": {
+      "Description": "Battery monitor I2C bus number",
+      "DisplayName": "Battery monitor I2C bus number",
       "Range": {
-        "high": "18000",
-        "low": "500"
+        "high": "3",
+        "low": "0"
       },
-      "Units": "cdeg/s",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "ATC_THR_MIX_MAN": {
-      "Description": "Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)",
-      "DisplayName": "Throttle Mix Manual",
+    "BATT4_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.",
+      "DisplayName": "Low battery capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
+    },
+    "BATT4_LOW_TIMER": {
+      "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
+      "DisplayName": "Low voltage timeout",
+      "Increment": "1",
       "Range": {
-        "high": "0.9",
-        "low": "0.5"
+        "high": "120",
+        "low": "0"
       },
+      "Units": "s",
       "User": "Advanced"
     },
-    "ATC_THR_MIX_MAX": {
-      "Description": "Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)",
-      "DisplayName": "Throttle Mix Maximum",
+    "BATT4_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.",
+      "DisplayName": "Low battery voltage",
+      "Increment": "0.1",
+      "Units": "V",
+      "User": "Standard"
+    },
+    "BATT4_MAX_AMPS": {
+      "Description": "This controls the maximum current the INS2XX sensor will work with.",
+      "DisplayName": "Battery monitor max current",
       "Range": {
-        "high": "0.9",
-        "low": "0.5"
+        "high": "400",
+        "low": "1"
       },
+      "Units": "A",
       "User": "Advanced"
     },
-    "ATC_THR_MIX_MIN": {
-      "Description": "Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)",
-      "DisplayName": "Throttle Mix Minimum",
+    "BATT4_MAX_VOLT": {
+      "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
+      "DisplayName": "Maximum Battery Voltage",
       "Range": {
-        "high": "0.25",
-        "low": "0.1"
+        "high": "100",
+        "low": "7"
       },
       "User": "Advanced"
-    }
-  },
-  "AVOID_": {
-    "AVOID_ACCEL_MAX": {
-      "Description": "Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits",
-      "DisplayName": "Avoidance maximum acceleration",
-      "Range": {
-        "high": "9",
-        "low": "0"
-      },
-      "Units": "m/s/s",
-      "User": "Standard"
     },
-    "AVOID_BACKUP_DZ": {
-      "Description": "Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.",
-      "DisplayName": "Avoidance deadzone between stopping and backing away from obstacle",
-      "Range": {
-        "high": "2",
-        "low": "0"
+    "BATT4_MONITOR": {
+      "Description": "Controls enabling monitoring of the battery's voltage and current",
+      "DisplayName": "Battery monitoring",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "10": "Sum Of Selected Monitors",
+        "11": "FuelFlow",
+        "12": "FuelLevelPWM",
+        "13": "SMBUS-SUI3",
+        "14": "SMBUS-SUI6",
+        "15": "NeoDesign",
+        "16": "SMBus-Maxell",
+        "17": "Generator-Elec",
+        "18": "Generator-Fuel",
+        "19": "Rotoye",
+        "20": "MPPT",
+        "21": "INA2XX",
+        "22": "LTC2946",
+        "23": "Torqeedo",
+        "24": "FuelLevelAnalog",
+        "25": "Synthetic Current and Analog Voltage",
+        "26": "INA239_SPI",
+        "27": "EFI",
+        "28": "AD7091R5",
+        "29": "Scripting",
+        "3": "Analog Voltage Only",
+        "4": "Analog Voltage and Current",
+        "5": "Solo",
+        "6": "Bebop",
+        "7": "SMBus-Generic",
+        "8": "DroneCAN-BatteryInfo",
+        "9": "ESC"
+      }
+    },
+    "BATT4_OPTIONS": {
+      "Bitmask": {
+        "0": "Ignore DroneCAN SoC",
+        "1": "MPPT reports input voltage and current",
+        "2": "MPPT Powered off when disarmed",
+        "3": "MPPT Powered on when armed",
+        "4": "MPPT Powered off at boot",
+        "5": "MPPT Powered on at boot",
+        "6": "Send resistance compensated voltage to GCS",
+        "7": "Allow DroneCAN InfoAux to be from a different CAN node"
       },
-      "Units": "m",
-      "User": "Standard"
+      "Description": "This sets options to change the behaviour of the battery monitor",
+      "DisplayName": "Battery monitor options",
+      "User": "Advanced"
     },
-    "AVOID_BACKUP_SPD": {
-      "Description": "Maximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable",
-      "DisplayName": "Avoidance maximum backup speed",
+    "BATT4_SERIAL_NUM": {
+      "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
+      "DisplayName": "Battery serial number",
+      "User": "Advanced"
+    },
+    "BATT4_SHUNT": {
+      "Description": "This sets the shunt resistor used in the device",
+      "DisplayName": "Battery monitor shunt resistor",
       "Range": {
-        "high": "2",
-        "low": "0"
+        "high": "0.01",
+        "low": "0.0001"
       },
-      "Units": "m/s",
-      "User": "Standard"
+      "Units": "Ohm",
+      "User": "Advanced"
     },
-    "AVOID_ENABLE": {
+    "BATT4_SUM_MASK": {
       "Bitmask": {
-        "0": "UseFence",
-        "1": "UseProximitySensor",
-        "2": "UseBeaconFence"
+        "0": "monitor 1",
+        "1": "monitor 2",
+        "2": "monitor 3",
+        "3": "monitor 4",
+        "4": "monitor 5",
+        "5": "monitor 6",
+        "6": "monitor 7",
+        "7": "monitor 8",
+        "8": "monitor 9"
       },
-      "Description": "Enabled/disable avoidance input sources",
-      "DisplayName": "Avoidance control enable/disable",
+      "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.",
+      "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "AVOID_MARGIN": {
-      "Description": "Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes",
-      "DisplayName": "Avoidance distance margin in GPS modes",
-      "Range": {
-        "high": "10",
-        "low": "1"
-      },
-      "Units": "m",
-      "User": "Standard"
-    }
-  },
-  "BARO": {
-    "BARO1_DEVID": {
-      "Description": "Barometer sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Baro ID",
-      "ReadOnly": "True",
+    "BATT4_VLT_OFFSET": {
+      "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
+      "DisplayName": "Voltage offset",
+      "Units": "V",
       "User": "Advanced"
     },
-    "BARO1_GND_PRESS": {
-      "Description": "calibrated ground pressure in Pascals",
-      "DisplayName": "Ground Pressure",
-      "Increment": "1",
-      "ReadOnly": "True",
-      "Units": "Pa",
-      "User": "Advanced",
-      "Volatile": "True"
-    },
-    "BARO2_DEVID": {
-      "Description": "Barometer2 sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Baro ID2",
-      "ReadOnly": "True",
+    "BATT4_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+      "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BARO2_GND_PRESS": {
-      "Description": "calibrated ground pressure in Pascals",
-      "DisplayName": "Ground Pressure",
-      "Increment": "1",
-      "ReadOnly": "True",
-      "Units": "Pa",
-      "User": "Advanced",
-      "Volatile": "True"
-    },
-    "BARO3_DEVID": {
-      "Description": "Barometer3 sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Baro ID3",
-      "ReadOnly": "True",
-      "User": "Advanced"
+    "BATT4_VOLT_PIN": {
+      "Description": "Sets the analog input pin that should be used for voltage monitoring.",
+      "DisplayName": "Battery Voltage sensing pin",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "100": "PX4-v1",
+        "13": "Pixhawk2_PM2/CubeOrange_PM2",
+        "14": "CubeOrange",
+        "16": "Durandal",
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
+        "5": "Navigator"
+      }
+    }
+  },
+  "BATT5_": {
+    "BATT5_AMP_OFFSET": {
+      "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
+      "DisplayName": "AMP offset",
+      "Units": "V",
+      "User": "Standard"
     },
-    "BARO3_GND_PRESS": {
-      "Description": "calibrated ground pressure in Pascals",
-      "DisplayName": "Absolute Pressure",
-      "Increment": "1",
-      "ReadOnly": "True",
-      "Units": "Pa",
-      "User": "Advanced",
-      "Volatile": "True"
+    "BATT5_AMP_PERVLT": {
+      "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
+      "DisplayName": "Amps per volt",
+      "Units": "A/V",
+      "User": "Standard"
     },
-    "BARO_ALTERR_MAX": {
-      "Description": "This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.",
-      "DisplayName": "Altitude error maximum",
-      "Increment": "1",
-      "Range": {
-        "high": "5000",
-        "low": "0"
-      },
-      "Units": "m",
+    "BATT5_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.",
+      "DisplayName": "Required arming remaining capacity",
+      "Increment": "50",
+      "Units": "mAh",
       "User": "Advanced"
     },
-    "BARO_ALT_OFFSET": {
-      "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.",
-      "DisplayName": "altitude offset",
+    "BATT5_ARM_VOLT": {
+      "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
+      "DisplayName": "Required arming voltage",
       "Increment": "0.1",
-      "Units": "m",
+      "Units": "V",
       "User": "Advanced"
     },
-    "BARO_EXT_BUS": {
-      "Description": "This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.",
-      "DisplayName": "External baro bus",
-      "User": "Advanced",
-      "Values": {
-        "-1": "Disabled",
-        "0": "Bus0",
-        "1": "Bus1",
-        "6": "Bus6"
-      }
+    "BATT5_CAPACITY": {
+      "Description": "Capacity of the battery in mAh when full",
+      "DisplayName": "Battery capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
     },
-    "BARO_FIELD_ELV": {
-      "Description": "User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.",
-      "DisplayName": "field elevation",
+    "BATT5_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.",
+      "DisplayName": "Battery critical capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
+    },
+    "BATT5_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.",
+      "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
-      "Units": "m",
-      "User": "Advanced",
-      "Volatile": "True"
+      "Units": "V",
+      "User": "Standard"
     },
-    "BARO_FLTR_RNG": {
-      "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.",
-      "DisplayName": "Range in which sample is accepted",
-      "Increment": "1",
+    "BATT5_CURR_MULT": {
+      "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
+      "DisplayName": "Scales reported power monitor current",
       "Range": {
-        "high": "100",
-        "low": "0"
-      },
-      "Units": "%"
-    },
-    "BARO_GND_TEMP": {
-      "Description": "User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.",
-      "DisplayName": "ground temperature",
-      "Increment": "1",
-      "Units": "degC",
-      "User": "Advanced",
-      "Volatile": "True"
-    },
-    "BARO_OPTIONS": {
-      "Bitmask": {
-        "0": "Treat MS5611 as MS5607"
+        "high": "10",
+        "low": ".1"
       },
-      "Description": "Barometer options",
-      "DisplayName": "Barometer options",
       "User": "Advanced"
     },
-    "BARO_PRIMARY": {
-      "Description": "This selects which barometer will be the primary if multiple barometers are found",
-      "DisplayName": "Primary barometer",
-      "User": "Advanced",
+    "BATT5_CURR_PIN": {
+      "Description": "Sets the analog input pin that should be used for current monitoring.",
+      "DisplayName": "Battery Current sensing pin",
+      "RebootRequired": "True",
+      "User": "Standard",
       "Values": {
-        "0": "FirstBaro",
-        "1": "2ndBaro",
-        "2": "3rdBaro"
+        "-1": "Disabled",
+        "101": "PX4-v1",
+        "14": "Pixhawk2_PM2",
+        "15": "CubeOrange",
+        "17": "Durandal",
+        "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
+        "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BARO_PROBE_EXT": {
-      "Bitmask": {
-        "0": "BMP085",
-        "1": "BMP280",
-        "10": "BMP388",
-        "11": "SPL06",
-        "12": "MSP",
-        "2": "MS5611",
-        "3": "MS5607",
-        "4": "MS5637",
-        "5": "FBM320",
-        "6": "DPS280",
-        "7": "LPS25H",
-        "8": "Keller",
-        "9": "MS5837"
+    "BATT5_ESC_INDEX": {
+      "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
+      "DisplayName": "ESC Telemetry Index to write to",
+      "Increment": "1",
+      "Range": {
+        "high": "10",
+        "low": "0"
       },
-      "Description": "This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.",
-      "DisplayName": "External barometers to probe",
       "User": "Advanced"
     },
-    "BARO_SPEC_GRAV": {
-      "Description": "This sets the specific gravity of the fluid when flying an underwater ROV.",
-      "DisplayName": "Specific Gravity (For water depth measurement)",
-      "Values": {
-        "1.0": "Freshwater",
-        "1.024": "Saltwater"
-      }
-    }
-  },
-  "BARO1_WCF_": {
-    "BARO1_WCF_BCK": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in negative X direction (backwards)",
-      "Increment": "0.05",
+    "BATT5_FL_FF": {
+      "Description": "First order polynomial fit term",
+      "DisplayName": "First order term",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "10",
+        "low": "0"
       },
       "User": "Advanced"
     },
-    "BARO1_WCF_DN": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in negative Z direction (down)",
-      "Increment": "0.05",
+    "BATT5_FL_FLTR": {
+      "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
+      "DisplayName": "Fuel level filter frequency",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "1",
+        "low": "-1"
       },
+      "RebootRequired": "True",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "BARO1_WCF_ENABLE": {
-      "Description": "This enables the use of wind coefficients for barometer compensation",
-      "DisplayName": "Wind coefficient enable",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "BARO1_WCF_FWD": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in positive X direction (forward)",
-      "Increment": "0.05",
+    "BATT5_FL_FS": {
+      "Description": "Second order polynomial fit term",
+      "DisplayName": "Second order term",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "10",
+        "low": "0"
       },
       "User": "Advanced"
     },
-    "BARO1_WCF_LFT": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in negative Y direction (left)",
-      "Increment": "0.05",
+    "BATT5_FL_FT": {
+      "Description": "Third order polynomial fit term",
+      "DisplayName": "Third order term",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "10",
+        "low": "0"
       },
       "User": "Advanced"
     },
-    "BARO1_WCF_RGT": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in positive Y direction (right)",
-      "Increment": "0.05",
+    "BATT5_FL_OFF": {
+      "Description": "Offset polynomial fit term",
+      "DisplayName": "Offset term",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "10",
+        "low": "0"
       },
       "User": "Advanced"
     },
-    "BARO1_WCF_UP": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in positive Z direction (up)",
-      "Increment": "0.05",
-      "Range": {
-        "high": "1.0",
-        "low": "-1.0"
-      },
-      "User": "Advanced"
-    }
-  },
-  "BARO2_WCF_": {
-    "BARO2_WCF_BCK": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in negative X direction (backwards)",
-      "Increment": "0.05",
+    "BATT5_FL_PIN": {
+      "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
+      "DisplayName": "Fuel level analog pin number",
+      "Values": {
+        "-1": "Not Used",
+        "103": "Pixhawk SBUS",
+        "11": "Pixracer",
+        "13": "Pixhawk ADC4",
+        "14": "Pixhawk ADC3",
+        "15": "Pixhawk ADC6/Pixhawk2 ADC"
+      }
+    },
+    "BATT5_FL_VLT_MIN": {
+      "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
+      "DisplayName": "Empty fuel level voltage",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "10",
+        "low": "0.01"
       },
+      "Units": "V",
       "User": "Advanced"
     },
-    "BARO2_WCF_DN": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in negative Z direction (down)",
-      "Increment": "0.05",
+    "BATT5_FL_V_MULT": {
+      "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
+      "DisplayName": "Fuel level voltage multiplier",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "10",
+        "low": "0.01"
       },
       "User": "Advanced"
     },
-    "BARO2_WCF_ENABLE": {
-      "Description": "This enables the use of wind coefficients for barometer compensation",
-      "DisplayName": "Wind coefficient enable",
+    "BATT5_FS_CRT_ACT": {
+      "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
+      "DisplayName": "Critical battery failsafe action",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "2": "Disarm",
+        "3": "Enter surface mode"
+      }
+    },
+    "BATT5_FS_LOW_ACT": {
+      "Description": "What action the vehicle should perform if it hits a low battery failsafe",
+      "DisplayName": "Low battery failsafe action",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "2": "Disarm",
+        "3": "Enter surface mode"
+      }
+    },
+    "BATT5_FS_VOLTSRC": {
+      "Description": "Voltage type used for detection of low voltage event",
+      "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "Raw Voltage",
+        "1": "Sag Compensated Voltage"
       }
     },
-    "BARO2_WCF_FWD": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in positive X direction (forward)",
-      "Increment": "0.05",
+    "BATT5_I2C_ADDR": {
+      "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
+      "DisplayName": "Battery monitor I2C address",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "127",
+        "low": "0"
       },
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "BARO2_WCF_LFT": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in negative Y direction (left)",
-      "Increment": "0.05",
+    "BATT5_I2C_BUS": {
+      "Description": "Battery monitor I2C bus number",
+      "DisplayName": "Battery monitor I2C bus number",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "3",
+        "low": "0"
       },
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "BARO2_WCF_RGT": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in positive Y direction (right)",
-      "Increment": "0.05",
-      "Range": {
-        "high": "1.0",
-        "low": "-1.0"
-      },
-      "User": "Advanced"
+    "BATT5_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.",
+      "DisplayName": "Low battery capacity",
+      "Increment": "50",
+      "Units": "mAh",
+      "User": "Standard"
     },
-    "BARO2_WCF_UP": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in positive Z direction (up)",
-      "Increment": "0.05",
+    "BATT5_LOW_TIMER": {
+      "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
+      "DisplayName": "Low voltage timeout",
+      "Increment": "1",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "120",
+        "low": "0"
       },
+      "Units": "s",
       "User": "Advanced"
-    }
-  },
-  "BARO3_WCF_": {
-    "BARO3_WCF_BCK": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in negative X direction (backwards)",
-      "Increment": "0.05",
+    },
+    "BATT5_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.",
+      "DisplayName": "Low battery voltage",
+      "Increment": "0.1",
+      "Units": "V",
+      "User": "Standard"
+    },
+    "BATT5_MAX_AMPS": {
+      "Description": "This controls the maximum current the INS2XX sensor will work with.",
+      "DisplayName": "Battery monitor max current",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "400",
+        "low": "1"
       },
+      "Units": "A",
       "User": "Advanced"
     },
-    "BARO3_WCF_DN": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in negative Z direction (down)",
-      "Increment": "0.05",
+    "BATT5_MAX_VOLT": {
+      "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
+      "DisplayName": "Maximum Battery Voltage",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "100",
+        "low": "7"
       },
       "User": "Advanced"
     },
-    "BARO3_WCF_ENABLE": {
-      "Description": "This enables the use of wind coefficients for barometer compensation",
-      "DisplayName": "Wind coefficient enable",
-      "User": "Advanced",
+    "BATT5_MONITOR": {
+      "Description": "Controls enabling monitoring of the battery's voltage and current",
+      "DisplayName": "Battery monitoring",
+      "RebootRequired": "True",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "10": "Sum Of Selected Monitors",
+        "11": "FuelFlow",
+        "12": "FuelLevelPWM",
+        "13": "SMBUS-SUI3",
+        "14": "SMBUS-SUI6",
+        "15": "NeoDesign",
+        "16": "SMBus-Maxell",
+        "17": "Generator-Elec",
+        "18": "Generator-Fuel",
+        "19": "Rotoye",
+        "20": "MPPT",
+        "21": "INA2XX",
+        "22": "LTC2946",
+        "23": "Torqeedo",
+        "24": "FuelLevelAnalog",
+        "25": "Synthetic Current and Analog Voltage",
+        "26": "INA239_SPI",
+        "27": "EFI",
+        "28": "AD7091R5",
+        "29": "Scripting",
+        "3": "Analog Voltage Only",
+        "4": "Analog Voltage and Current",
+        "5": "Solo",
+        "6": "Bebop",
+        "7": "SMBus-Generic",
+        "8": "DroneCAN-BatteryInfo",
+        "9": "ESC"
       }
     },
-    "BARO3_WCF_FWD": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in positive X direction (forward)",
-      "Increment": "0.05",
-      "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+    "BATT5_OPTIONS": {
+      "Bitmask": {
+        "0": "Ignore DroneCAN SoC",
+        "1": "MPPT reports input voltage and current",
+        "2": "MPPT Powered off when disarmed",
+        "3": "MPPT Powered on when armed",
+        "4": "MPPT Powered off at boot",
+        "5": "MPPT Powered on at boot",
+        "6": "Send resistance compensated voltage to GCS",
+        "7": "Allow DroneCAN InfoAux to be from a different CAN node"
       },
+      "Description": "This sets options to change the behaviour of the battery monitor",
+      "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BARO3_WCF_LFT": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in negative Y direction (left)",
-      "Increment": "0.05",
-      "Range": {
-        "high": "1.0",
-        "low": "-1.0"
-      },
+    "BATT5_SERIAL_NUM": {
+      "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
+      "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BARO3_WCF_RGT": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in positive Y direction (right)",
-      "Increment": "0.05",
+    "BATT5_SHUNT": {
+      "Description": "This sets the shunt resistor used in the device",
+      "DisplayName": "Battery monitor shunt resistor",
       "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+        "high": "0.01",
+        "low": "0.0001"
       },
+      "Units": "Ohm",
       "User": "Advanced"
     },
-    "BARO3_WCF_UP": {
-      "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.",
-      "DisplayName": "Pressure error coefficient in positive Z direction (up)",
-      "Increment": "0.05",
-      "Range": {
-        "high": "1.0",
-        "low": "-1.0"
+    "BATT5_SUM_MASK": {
+      "Bitmask": {
+        "0": "monitor 1",
+        "1": "monitor 2",
+        "2": "monitor 3",
+        "3": "monitor 4",
+        "4": "monitor 5",
+        "5": "monitor 6",
+        "6": "monitor 7",
+        "7": "monitor 8",
+        "8": "monitor 9"
       },
+      "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.",
+      "DisplayName": "Battery Sum mask",
+      "User": "Standard"
+    },
+    "BATT5_VLT_OFFSET": {
+      "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
+      "DisplayName": "Voltage offset",
+      "Units": "V",
+      "User": "Advanced"
+    },
+    "BATT5_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+      "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
+    },
+    "BATT5_VOLT_PIN": {
+      "Description": "Sets the analog input pin that should be used for voltage monitoring.",
+      "DisplayName": "Battery Voltage sensing pin",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "100": "PX4-v1",
+        "13": "Pixhawk2_PM2/CubeOrange_PM2",
+        "14": "CubeOrange",
+        "16": "Durandal",
+        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
+        "5": "Navigator"
+      }
     }
   },
-  "BATT2_": {
-    "BATT2_AMP_OFFSET": {
+  "BATT6_": {
+    "BATT6_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT2_AMP_PERVLT": {
+    "BATT6_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATT2_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.",
+    "BATT6_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATT2_ARM_VOLT": {
+    "BATT6_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT2_CAPACITY": {
+    "BATT6_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT2_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.",
+    "BATT6_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT2_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.",
+    "BATT6_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT2_CURR_MULT": {
+    "BATT6_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -3066,7 +3164,7 @@
       },
       "User": "Advanced"
     },
-    "BATT2_CURR_PIN": {
+    "BATT6_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -3081,7 +3179,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATT2_ESC_INDEX": {
+    "BATT6_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -3091,7 +3189,7 @@
       },
       "User": "Advanced"
     },
-    "BATT2_FL_FF": {
+    "BATT6_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -3100,7 +3198,7 @@
       },
       "User": "Advanced"
     },
-    "BATT2_FL_FLTR": {
+    "BATT6_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -3111,7 +3209,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATT2_FL_FS": {
+    "BATT6_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -3120,7 +3218,7 @@
       },
       "User": "Advanced"
     },
-    "BATT2_FL_FT": {
+    "BATT6_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -3129,7 +3227,7 @@
       },
       "User": "Advanced"
     },
-    "BATT2_FL_OFF": {
+    "BATT6_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -3138,7 +3236,7 @@
       },
       "User": "Advanced"
     },
-    "BATT2_FL_PIN": {
+    "BATT6_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -3150,7 +3248,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATT2_FL_VLT_MIN": {
+    "BATT6_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -3160,7 +3258,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT2_FL_V_MULT": {
+    "BATT6_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -3169,7 +3267,7 @@
       },
       "User": "Advanced"
     },
-    "BATT2_FS_CRT_ACT": {
+    "BATT6_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -3179,7 +3277,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT2_FS_LOW_ACT": {
+    "BATT6_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -3189,7 +3287,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT2_FS_VOLTSRC": {
+    "BATT6_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -3198,7 +3296,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATT2_I2C_ADDR": {
+    "BATT6_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -3206,10 +3304,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT2_I2C_BUS": {
+    "BATT6_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -3217,17 +3314,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT2_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.",
+    "BATT6_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT2_LOW_TIMER": {
+    "BATT6_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -3238,14 +3334,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATT2_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.",
+    "BATT6_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT2_MAX_AMPS": {
+    "BATT6_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -3255,7 +3351,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATT2_MAX_VOLT": {
+    "BATT6_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -3264,7 +3360,7 @@
       },
       "User": "Advanced"
     },
-    "BATT2_MONITOR": {
+    "BATT6_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -3300,7 +3396,7 @@
         "9": "ESC"
       }
     },
-    "BATT2_OPTIONS": {
+    "BATT6_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -3315,12 +3411,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATT2_SERIAL_NUM": {
+    "BATT6_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATT2_SHUNT": {
+    "BATT6_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -3330,7 +3426,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATT2_SUM_MASK": {
+    "BATT6_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -3346,18 +3442,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATT2_VLT_OFFSET": {
+    "BATT6_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT2_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATT6_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATT2_VOLT_PIN": {
+    "BATT6_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -3373,55 +3469,55 @@
       }
     }
   },
-  "BATT3_": {
-    "BATT3_AMP_OFFSET": {
+  "BATT7_": {
+    "BATT7_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT3_AMP_PERVLT": {
+    "BATT7_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATT3_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.",
+    "BATT7_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATT3_ARM_VOLT": {
+    "BATT7_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT3_CAPACITY": {
+    "BATT7_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT3_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.",
+    "BATT7_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT3_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.",
+    "BATT7_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT3_CURR_MULT": {
+    "BATT7_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -3430,7 +3526,7 @@
       },
       "User": "Advanced"
     },
-    "BATT3_CURR_PIN": {
+    "BATT7_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -3445,7 +3541,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATT3_ESC_INDEX": {
+    "BATT7_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -3455,7 +3551,7 @@
       },
       "User": "Advanced"
     },
-    "BATT3_FL_FF": {
+    "BATT7_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -3464,7 +3560,7 @@
       },
       "User": "Advanced"
     },
-    "BATT3_FL_FLTR": {
+    "BATT7_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -3475,7 +3571,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATT3_FL_FS": {
+    "BATT7_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -3484,7 +3580,7 @@
       },
       "User": "Advanced"
     },
-    "BATT3_FL_FT": {
+    "BATT7_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -3493,7 +3589,7 @@
       },
       "User": "Advanced"
     },
-    "BATT3_FL_OFF": {
+    "BATT7_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -3502,7 +3598,7 @@
       },
       "User": "Advanced"
     },
-    "BATT3_FL_PIN": {
+    "BATT7_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -3514,7 +3610,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATT3_FL_VLT_MIN": {
+    "BATT7_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -3524,7 +3620,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT3_FL_V_MULT": {
+    "BATT7_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -3533,7 +3629,7 @@
       },
       "User": "Advanced"
     },
-    "BATT3_FS_CRT_ACT": {
+    "BATT7_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -3543,7 +3639,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT3_FS_LOW_ACT": {
+    "BATT7_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -3553,7 +3649,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT3_FS_VOLTSRC": {
+    "BATT7_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -3562,7 +3658,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATT3_I2C_ADDR": {
+    "BATT7_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -3570,10 +3666,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT3_I2C_BUS": {
+    "BATT7_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -3581,17 +3676,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT3_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.",
+    "BATT7_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT3_LOW_TIMER": {
+    "BATT7_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -3602,14 +3696,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATT3_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.",
+    "BATT7_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT3_MAX_AMPS": {
+    "BATT7_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -3619,7 +3713,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATT3_MAX_VOLT": {
+    "BATT7_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -3628,7 +3722,7 @@
       },
       "User": "Advanced"
     },
-    "BATT3_MONITOR": {
+    "BATT7_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -3664,7 +3758,7 @@
         "9": "ESC"
       }
     },
-    "BATT3_OPTIONS": {
+    "BATT7_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -3679,12 +3773,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATT3_SERIAL_NUM": {
+    "BATT7_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATT3_SHUNT": {
+    "BATT7_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -3694,7 +3788,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATT3_SUM_MASK": {
+    "BATT7_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -3710,18 +3804,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATT3_VLT_OFFSET": {
+    "BATT7_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT3_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATT7_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATT3_VOLT_PIN": {
+    "BATT7_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -3737,55 +3831,55 @@
       }
     }
   },
-  "BATT4_": {
-    "BATT4_AMP_OFFSET": {
+  "BATT8_": {
+    "BATT8_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT4_AMP_PERVLT": {
+    "BATT8_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATT4_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.",
+    "BATT8_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATT4_ARM_VOLT": {
+    "BATT8_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT4_CAPACITY": {
+    "BATT8_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT4_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.",
+    "BATT8_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT4_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.",
+    "BATT8_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT4_CURR_MULT": {
+    "BATT8_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -3794,7 +3888,7 @@
       },
       "User": "Advanced"
     },
-    "BATT4_CURR_PIN": {
+    "BATT8_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -3809,7 +3903,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATT4_ESC_INDEX": {
+    "BATT8_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -3819,7 +3913,7 @@
       },
       "User": "Advanced"
     },
-    "BATT4_FL_FF": {
+    "BATT8_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -3828,7 +3922,7 @@
       },
       "User": "Advanced"
     },
-    "BATT4_FL_FLTR": {
+    "BATT8_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -3839,7 +3933,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATT4_FL_FS": {
+    "BATT8_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -3848,7 +3942,7 @@
       },
       "User": "Advanced"
     },
-    "BATT4_FL_FT": {
+    "BATT8_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -3857,7 +3951,7 @@
       },
       "User": "Advanced"
     },
-    "BATT4_FL_OFF": {
+    "BATT8_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -3866,7 +3960,7 @@
       },
       "User": "Advanced"
     },
-    "BATT4_FL_PIN": {
+    "BATT8_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -3878,7 +3972,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATT4_FL_VLT_MIN": {
+    "BATT8_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -3888,7 +3982,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT4_FL_V_MULT": {
+    "BATT8_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -3897,7 +3991,7 @@
       },
       "User": "Advanced"
     },
-    "BATT4_FS_CRT_ACT": {
+    "BATT8_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -3907,7 +4001,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT4_FS_LOW_ACT": {
+    "BATT8_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -3917,7 +4011,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT4_FS_VOLTSRC": {
+    "BATT8_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -3926,7 +4020,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATT4_I2C_ADDR": {
+    "BATT8_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -3934,10 +4028,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT4_I2C_BUS": {
+    "BATT8_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -3945,17 +4038,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT4_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.",
+    "BATT8_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT4_LOW_TIMER": {
+    "BATT8_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -3966,14 +4058,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATT4_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.",
+    "BATT8_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT4_MAX_AMPS": {
+    "BATT8_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -3983,7 +4075,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATT4_MAX_VOLT": {
+    "BATT8_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -3992,7 +4084,7 @@
       },
       "User": "Advanced"
     },
-    "BATT4_MONITOR": {
+    "BATT8_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -4028,7 +4120,7 @@
         "9": "ESC"
       }
     },
-    "BATT4_OPTIONS": {
+    "BATT8_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -4043,12 +4135,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATT4_SERIAL_NUM": {
+    "BATT8_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATT4_SHUNT": {
+    "BATT8_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -4058,7 +4150,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATT4_SUM_MASK": {
+    "BATT8_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -4074,18 +4166,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATT4_VLT_OFFSET": {
+    "BATT8_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT4_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATT8_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATT4_VOLT_PIN": {
+    "BATT8_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -4101,55 +4193,55 @@
       }
     }
   },
-  "BATT5_": {
-    "BATT5_AMP_OFFSET": {
+  "BATT9_": {
+    "BATT9_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT5_AMP_PERVLT": {
+    "BATT9_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATT5_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.",
+    "BATT9_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATT5_ARM_VOLT": {
+    "BATT9_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT5_CAPACITY": {
+    "BATT9_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT5_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.",
+    "BATT9_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT5_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.",
+    "BATT9_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT5_CURR_MULT": {
+    "BATT9_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -4158,7 +4250,7 @@
       },
       "User": "Advanced"
     },
-    "BATT5_CURR_PIN": {
+    "BATT9_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -4173,7 +4265,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATT5_ESC_INDEX": {
+    "BATT9_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -4183,7 +4275,7 @@
       },
       "User": "Advanced"
     },
-    "BATT5_FL_FF": {
+    "BATT9_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -4192,7 +4284,7 @@
       },
       "User": "Advanced"
     },
-    "BATT5_FL_FLTR": {
+    "BATT9_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -4203,7 +4295,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATT5_FL_FS": {
+    "BATT9_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -4212,7 +4304,7 @@
       },
       "User": "Advanced"
     },
-    "BATT5_FL_FT": {
+    "BATT9_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -4221,7 +4313,7 @@
       },
       "User": "Advanced"
     },
-    "BATT5_FL_OFF": {
+    "BATT9_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -4230,7 +4322,7 @@
       },
       "User": "Advanced"
     },
-    "BATT5_FL_PIN": {
+    "BATT9_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -4242,7 +4334,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATT5_FL_VLT_MIN": {
+    "BATT9_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -4252,7 +4344,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT5_FL_V_MULT": {
+    "BATT9_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -4261,7 +4353,7 @@
       },
       "User": "Advanced"
     },
-    "BATT5_FS_CRT_ACT": {
+    "BATT9_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -4271,7 +4363,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT5_FS_LOW_ACT": {
+    "BATT9_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -4281,7 +4373,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT5_FS_VOLTSRC": {
+    "BATT9_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -4290,7 +4382,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATT5_I2C_ADDR": {
+    "BATT9_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -4298,10 +4390,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT5_I2C_BUS": {
+    "BATT9_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -4309,17 +4400,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT5_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.",
+    "BATT9_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT5_LOW_TIMER": {
+    "BATT9_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -4330,14 +4420,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATT5_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.",
+    "BATT9_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT5_MAX_AMPS": {
+    "BATT9_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -4347,7 +4437,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATT5_MAX_VOLT": {
+    "BATT9_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -4356,7 +4446,7 @@
       },
       "User": "Advanced"
     },
-    "BATT5_MONITOR": {
+    "BATT9_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -4392,7 +4482,7 @@
         "9": "ESC"
       }
     },
-    "BATT5_OPTIONS": {
+    "BATT9_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -4407,12 +4497,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATT5_SERIAL_NUM": {
+    "BATT9_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATT5_SHUNT": {
+    "BATT9_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -4422,7 +4512,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATT5_SUM_MASK": {
+    "BATT9_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -4438,18 +4528,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATT5_VLT_OFFSET": {
+    "BATT9_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT5_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATT9_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATT5_VOLT_PIN": {
+    "BATT9_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -4465,55 +4555,55 @@
       }
     }
   },
-  "BATT6_": {
-    "BATT6_AMP_OFFSET": {
+  "BATTA_": {
+    "BATTA_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT6_AMP_PERVLT": {
+    "BATTA_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATT6_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.",
+    "BATTA_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATT6_ARM_VOLT": {
+    "BATTA_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT6_CAPACITY": {
+    "BATTA_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT6_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.",
+    "BATTA_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT6_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.",
+    "BATTA_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT6_CURR_MULT": {
+    "BATTA_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -4522,7 +4612,7 @@
       },
       "User": "Advanced"
     },
-    "BATT6_CURR_PIN": {
+    "BATTA_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -4537,7 +4627,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATT6_ESC_INDEX": {
+    "BATTA_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -4547,7 +4637,7 @@
       },
       "User": "Advanced"
     },
-    "BATT6_FL_FF": {
+    "BATTA_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -4556,7 +4646,7 @@
       },
       "User": "Advanced"
     },
-    "BATT6_FL_FLTR": {
+    "BATTA_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -4567,7 +4657,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATT6_FL_FS": {
+    "BATTA_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -4576,7 +4666,7 @@
       },
       "User": "Advanced"
     },
-    "BATT6_FL_FT": {
+    "BATTA_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -4585,7 +4675,7 @@
       },
       "User": "Advanced"
     },
-    "BATT6_FL_OFF": {
+    "BATTA_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -4594,7 +4684,7 @@
       },
       "User": "Advanced"
     },
-    "BATT6_FL_PIN": {
+    "BATTA_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -4606,7 +4696,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATT6_FL_VLT_MIN": {
+    "BATTA_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -4616,7 +4706,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT6_FL_V_MULT": {
+    "BATTA_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -4625,7 +4715,7 @@
       },
       "User": "Advanced"
     },
-    "BATT6_FS_CRT_ACT": {
+    "BATTA_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -4635,7 +4725,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT6_FS_LOW_ACT": {
+    "BATTA_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -4645,7 +4735,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT6_FS_VOLTSRC": {
+    "BATTA_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -4654,7 +4744,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATT6_I2C_ADDR": {
+    "BATTA_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -4662,10 +4752,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT6_I2C_BUS": {
+    "BATTA_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -4673,17 +4762,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT6_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.",
+    "BATTA_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT6_LOW_TIMER": {
+    "BATTA_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -4694,14 +4782,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATT6_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.",
+    "BATTA_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT6_MAX_AMPS": {
+    "BATTA_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -4711,7 +4799,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATT6_MAX_VOLT": {
+    "BATTA_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -4720,7 +4808,7 @@
       },
       "User": "Advanced"
     },
-    "BATT6_MONITOR": {
+    "BATTA_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -4756,7 +4844,7 @@
         "9": "ESC"
       }
     },
-    "BATT6_OPTIONS": {
+    "BATTA_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -4771,12 +4859,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATT6_SERIAL_NUM": {
+    "BATTA_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATT6_SHUNT": {
+    "BATTA_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -4786,7 +4874,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATT6_SUM_MASK": {
+    "BATTA_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -4802,18 +4890,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATT6_VLT_OFFSET": {
+    "BATTA_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT6_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATTA_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATT6_VOLT_PIN": {
+    "BATTA_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -4829,55 +4917,55 @@
       }
     }
   },
-  "BATT7_": {
-    "BATT7_AMP_OFFSET": {
+  "BATTB_": {
+    "BATTB_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT7_AMP_PERVLT": {
+    "BATTB_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATT7_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.",
+    "BATTB_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATT7_ARM_VOLT": {
+    "BATTB_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT7_CAPACITY": {
+    "BATTB_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT7_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.",
+    "BATTB_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT7_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.",
-      "DisplayName": "Critical battery voltage",
+    "BATTB_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.",
+      "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT7_CURR_MULT": {
+    "BATTB_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -4886,7 +4974,7 @@
       },
       "User": "Advanced"
     },
-    "BATT7_CURR_PIN": {
+    "BATTB_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -4901,7 +4989,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATT7_ESC_INDEX": {
+    "BATTB_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -4911,7 +4999,7 @@
       },
       "User": "Advanced"
     },
-    "BATT7_FL_FF": {
+    "BATTB_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -4920,7 +5008,7 @@
       },
       "User": "Advanced"
     },
-    "BATT7_FL_FLTR": {
+    "BATTB_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -4931,7 +5019,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATT7_FL_FS": {
+    "BATTB_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -4940,7 +5028,7 @@
       },
       "User": "Advanced"
     },
-    "BATT7_FL_FT": {
+    "BATTB_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -4949,7 +5037,7 @@
       },
       "User": "Advanced"
     },
-    "BATT7_FL_OFF": {
+    "BATTB_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -4958,7 +5046,7 @@
       },
       "User": "Advanced"
     },
-    "BATT7_FL_PIN": {
+    "BATTB_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -4970,7 +5058,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATT7_FL_VLT_MIN": {
+    "BATTB_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -4980,7 +5068,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT7_FL_V_MULT": {
+    "BATTB_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -4989,7 +5077,7 @@
       },
       "User": "Advanced"
     },
-    "BATT7_FS_CRT_ACT": {
+    "BATTB_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -4999,7 +5087,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT7_FS_LOW_ACT": {
+    "BATTB_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -5009,7 +5097,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT7_FS_VOLTSRC": {
+    "BATTB_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -5018,7 +5106,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATT7_I2C_ADDR": {
+    "BATTB_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -5026,10 +5114,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT7_I2C_BUS": {
+    "BATTB_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -5037,17 +5124,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT7_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.",
+    "BATTB_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT7_LOW_TIMER": {
+    "BATTB_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -5058,14 +5144,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATT7_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.",
+    "BATTB_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT7_MAX_AMPS": {
+    "BATTB_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -5075,7 +5161,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATT7_MAX_VOLT": {
+    "BATTB_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -5084,7 +5170,7 @@
       },
       "User": "Advanced"
     },
-    "BATT7_MONITOR": {
+    "BATTB_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -5120,7 +5206,7 @@
         "9": "ESC"
       }
     },
-    "BATT7_OPTIONS": {
+    "BATTB_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -5135,12 +5221,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATT7_SERIAL_NUM": {
+    "BATTB_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATT7_SHUNT": {
+    "BATTB_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -5150,7 +5236,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATT7_SUM_MASK": {
+    "BATTB_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -5166,18 +5252,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATT7_VLT_OFFSET": {
+    "BATTB_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT7_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATTB_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATT7_VOLT_PIN": {
+    "BATTB_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -5193,55 +5279,55 @@
       }
     }
   },
-  "BATT8_": {
-    "BATT8_AMP_OFFSET": {
+  "BATTC_": {
+    "BATTC_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT8_AMP_PERVLT": {
+    "BATTC_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATT8_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.",
+    "BATTC_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATT8_ARM_VOLT": {
+    "BATTC_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT8_CAPACITY": {
+    "BATTC_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT8_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.",
+    "BATTC_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT8_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.",
+    "BATTC_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT8_CURR_MULT": {
+    "BATTC_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -5250,7 +5336,7 @@
       },
       "User": "Advanced"
     },
-    "BATT8_CURR_PIN": {
+    "BATTC_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -5265,7 +5351,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATT8_ESC_INDEX": {
+    "BATTC_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -5275,7 +5361,7 @@
       },
       "User": "Advanced"
     },
-    "BATT8_FL_FF": {
+    "BATTC_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -5284,7 +5370,7 @@
       },
       "User": "Advanced"
     },
-    "BATT8_FL_FLTR": {
+    "BATTC_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -5295,7 +5381,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATT8_FL_FS": {
+    "BATTC_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -5304,7 +5390,7 @@
       },
       "User": "Advanced"
     },
-    "BATT8_FL_FT": {
+    "BATTC_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -5313,7 +5399,7 @@
       },
       "User": "Advanced"
     },
-    "BATT8_FL_OFF": {
+    "BATTC_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -5322,7 +5408,7 @@
       },
       "User": "Advanced"
     },
-    "BATT8_FL_PIN": {
+    "BATTC_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -5334,7 +5420,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATT8_FL_VLT_MIN": {
+    "BATTC_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -5344,7 +5430,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT8_FL_V_MULT": {
+    "BATTC_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -5353,7 +5439,7 @@
       },
       "User": "Advanced"
     },
-    "BATT8_FS_CRT_ACT": {
+    "BATTC_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -5363,7 +5449,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT8_FS_LOW_ACT": {
+    "BATTC_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -5373,7 +5459,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT8_FS_VOLTSRC": {
+    "BATTC_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -5382,7 +5468,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATT8_I2C_ADDR": {
+    "BATTC_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -5390,10 +5476,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT8_I2C_BUS": {
+    "BATTC_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -5401,17 +5486,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT8_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.",
+    "BATTC_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT8_LOW_TIMER": {
+    "BATTC_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -5422,14 +5506,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATT8_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.",
+    "BATTC_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT8_MAX_AMPS": {
+    "BATTC_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -5439,7 +5523,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATT8_MAX_VOLT": {
+    "BATTC_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -5448,7 +5532,7 @@
       },
       "User": "Advanced"
     },
-    "BATT8_MONITOR": {
+    "BATTC_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -5484,7 +5568,7 @@
         "9": "ESC"
       }
     },
-    "BATT8_OPTIONS": {
+    "BATTC_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -5499,12 +5583,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATT8_SERIAL_NUM": {
+    "BATTC_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATT8_SHUNT": {
+    "BATTC_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -5514,7 +5598,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATT8_SUM_MASK": {
+    "BATTC_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -5530,18 +5614,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATT8_VLT_OFFSET": {
+    "BATTC_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT8_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATTC_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATT8_VOLT_PIN": {
+    "BATTC_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -5557,55 +5641,55 @@
       }
     }
   },
-  "BATT9_": {
-    "BATT9_AMP_OFFSET": {
+  "BATTD_": {
+    "BATTD_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT9_AMP_PERVLT": {
+    "BATTD_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATT9_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.",
+    "BATTD_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATT9_ARM_VOLT": {
+    "BATTD_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT9_CAPACITY": {
+    "BATTD_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT9_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.",
+    "BATTD_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT9_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.",
+    "BATTD_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT9_CURR_MULT": {
+    "BATTD_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -5614,7 +5698,7 @@
       },
       "User": "Advanced"
     },
-    "BATT9_CURR_PIN": {
+    "BATTD_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -5629,7 +5713,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATT9_ESC_INDEX": {
+    "BATTD_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -5639,7 +5723,7 @@
       },
       "User": "Advanced"
     },
-    "BATT9_FL_FF": {
+    "BATTD_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -5648,7 +5732,7 @@
       },
       "User": "Advanced"
     },
-    "BATT9_FL_FLTR": {
+    "BATTD_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -5659,7 +5743,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATT9_FL_FS": {
+    "BATTD_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -5668,7 +5752,7 @@
       },
       "User": "Advanced"
     },
-    "BATT9_FL_FT": {
+    "BATTD_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -5677,7 +5761,7 @@
       },
       "User": "Advanced"
     },
-    "BATT9_FL_OFF": {
+    "BATTD_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -5686,7 +5770,7 @@
       },
       "User": "Advanced"
     },
-    "BATT9_FL_PIN": {
+    "BATTD_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -5698,7 +5782,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATT9_FL_VLT_MIN": {
+    "BATTD_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -5708,7 +5792,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT9_FL_V_MULT": {
+    "BATTD_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -5717,7 +5801,7 @@
       },
       "User": "Advanced"
     },
-    "BATT9_FS_CRT_ACT": {
+    "BATTD_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -5727,7 +5811,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT9_FS_LOW_ACT": {
+    "BATTD_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -5737,7 +5821,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATT9_FS_VOLTSRC": {
+    "BATTD_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -5746,7 +5830,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATT9_I2C_ADDR": {
+    "BATTD_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -5754,10 +5838,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT9_I2C_BUS": {
+    "BATTD_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -5765,17 +5848,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATT9_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.",
+    "BATTD_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATT9_LOW_TIMER": {
+    "BATTD_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -5786,14 +5868,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATT9_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.",
+    "BATTD_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATT9_MAX_AMPS": {
+    "BATTD_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -5803,7 +5885,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATT9_MAX_VOLT": {
+    "BATTD_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -5812,7 +5894,7 @@
       },
       "User": "Advanced"
     },
-    "BATT9_MONITOR": {
+    "BATTD_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -5848,7 +5930,7 @@
         "9": "ESC"
       }
     },
-    "BATT9_OPTIONS": {
+    "BATTD_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -5863,12 +5945,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATT9_SERIAL_NUM": {
+    "BATTD_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATT9_SHUNT": {
+    "BATTD_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -5878,7 +5960,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATT9_SUM_MASK": {
+    "BATTD_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -5894,18 +5976,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATT9_VLT_OFFSET": {
+    "BATTD_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATT9_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATTD_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATT9_VOLT_PIN": {
+    "BATTD_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -5921,55 +6003,55 @@
       }
     }
   },
-  "BATTA_": {
-    "BATTA_AMP_OFFSET": {
+  "BATTE_": {
+    "BATTE_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTA_AMP_PERVLT": {
+    "BATTE_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATTA_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA__ARM_VOLT parameter.",
+    "BATTE_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATTA_ARM_VOLT": {
+    "BATTE_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTA_CAPACITY": {
+    "BATTE_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTA_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA__FS_CRT_ACT parameter.",
+    "BATTE_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTA_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.",
+    "BATTE_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTA_CURR_MULT": {
+    "BATTE_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -5978,7 +6060,7 @@
       },
       "User": "Advanced"
     },
-    "BATTA_CURR_PIN": {
+    "BATTE_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -5993,7 +6075,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATTA_ESC_INDEX": {
+    "BATTE_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -6003,7 +6085,7 @@
       },
       "User": "Advanced"
     },
-    "BATTA_FL_FF": {
+    "BATTE_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -6012,7 +6094,7 @@
       },
       "User": "Advanced"
     },
-    "BATTA_FL_FLTR": {
+    "BATTE_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -6023,7 +6105,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATTA_FL_FS": {
+    "BATTE_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -6032,7 +6114,7 @@
       },
       "User": "Advanced"
     },
-    "BATTA_FL_FT": {
+    "BATTE_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -6041,7 +6123,7 @@
       },
       "User": "Advanced"
     },
-    "BATTA_FL_OFF": {
+    "BATTE_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -6050,7 +6132,7 @@
       },
       "User": "Advanced"
     },
-    "BATTA_FL_PIN": {
+    "BATTE_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -6062,7 +6144,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATTA_FL_VLT_MIN": {
+    "BATTE_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -6072,7 +6154,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTA_FL_V_MULT": {
+    "BATTE_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -6081,7 +6163,7 @@
       },
       "User": "Advanced"
     },
-    "BATTA_FS_CRT_ACT": {
+    "BATTE_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -6091,7 +6173,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATTA_FS_LOW_ACT": {
+    "BATTE_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -6101,7 +6183,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATTA_FS_VOLTSRC": {
+    "BATTE_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -6110,7 +6192,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATTA_I2C_ADDR": {
+    "BATTE_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -6118,10 +6200,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATTA_I2C_BUS": {
+    "BATTE_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -6129,17 +6210,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATTA_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.",
+    "BATTE_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTA_LOW_TIMER": {
+    "BATTE_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -6150,14 +6230,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATTA_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.",
+    "BATTE_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTA_MAX_AMPS": {
+    "BATTE_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -6167,7 +6247,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATTA_MAX_VOLT": {
+    "BATTE_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -6176,7 +6256,7 @@
       },
       "User": "Advanced"
     },
-    "BATTA_MONITOR": {
+    "BATTE_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -6212,7 +6292,7 @@
         "9": "ESC"
       }
     },
-    "BATTA_OPTIONS": {
+    "BATTE_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -6227,12 +6307,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATTA_SERIAL_NUM": {
+    "BATTE_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATTA_SHUNT": {
+    "BATTE_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -6242,7 +6322,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATTA_SUM_MASK": {
+    "BATTE_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -6258,18 +6338,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATTA_VLT_OFFSET": {
+    "BATTE_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTA_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATTE_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATTA_VOLT_PIN": {
+    "BATTE_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -6285,55 +6365,55 @@
       }
     }
   },
-  "BATTB_": {
-    "BATTB_AMP_OFFSET": {
+  "BATTF_": {
+    "BATTF_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTB_AMP_PERVLT": {
+    "BATTF_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATTB_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB__ARM_VOLT parameter.",
+    "BATTF_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATTB_ARM_VOLT": {
+    "BATTF_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTB_CAPACITY": {
+    "BATTF_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTB_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB__FS_CRT_ACT parameter.",
+    "BATTF_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTB_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.",
+    "BATTF_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTB_CURR_MULT": {
+    "BATTF_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -6342,7 +6422,7 @@
       },
       "User": "Advanced"
     },
-    "BATTB_CURR_PIN": {
+    "BATTF_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -6357,7 +6437,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATTB_ESC_INDEX": {
+    "BATTF_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -6367,7 +6447,7 @@
       },
       "User": "Advanced"
     },
-    "BATTB_FL_FF": {
+    "BATTF_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -6376,7 +6456,7 @@
       },
       "User": "Advanced"
     },
-    "BATTB_FL_FLTR": {
+    "BATTF_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -6387,7 +6467,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATTB_FL_FS": {
+    "BATTF_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -6396,7 +6476,7 @@
       },
       "User": "Advanced"
     },
-    "BATTB_FL_FT": {
+    "BATTF_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -6405,7 +6485,7 @@
       },
       "User": "Advanced"
     },
-    "BATTB_FL_OFF": {
+    "BATTF_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -6414,7 +6494,7 @@
       },
       "User": "Advanced"
     },
-    "BATTB_FL_PIN": {
+    "BATTF_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -6426,7 +6506,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATTB_FL_VLT_MIN": {
+    "BATTF_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -6436,7 +6516,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTB_FL_V_MULT": {
+    "BATTF_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -6445,7 +6525,7 @@
       },
       "User": "Advanced"
     },
-    "BATTB_FS_CRT_ACT": {
+    "BATTF_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -6455,7 +6535,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATTB_FS_LOW_ACT": {
+    "BATTF_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -6465,7 +6545,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATTB_FS_VOLTSRC": {
+    "BATTF_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -6474,7 +6554,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATTB_I2C_ADDR": {
+    "BATTF_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -6482,10 +6562,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATTB_I2C_BUS": {
+    "BATTF_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -6493,17 +6572,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATTB_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.",
+    "BATTF_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTB_LOW_TIMER": {
+    "BATTF_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -6514,14 +6592,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATTB_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.",
+    "BATTF_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTB_MAX_AMPS": {
+    "BATTF_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -6531,7 +6609,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATTB_MAX_VOLT": {
+    "BATTF_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -6540,7 +6618,7 @@
       },
       "User": "Advanced"
     },
-    "BATTB_MONITOR": {
+    "BATTF_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -6576,7 +6654,7 @@
         "9": "ESC"
       }
     },
-    "BATTB_OPTIONS": {
+    "BATTF_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -6591,12 +6669,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATTB_SERIAL_NUM": {
+    "BATTF_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATTB_SHUNT": {
+    "BATTF_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -6606,7 +6684,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATTB_SUM_MASK": {
+    "BATTF_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -6622,18 +6700,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATTB_VLT_OFFSET": {
+    "BATTF_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTB_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATTF_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATTB_VOLT_PIN": {
+    "BATTF_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -6649,55 +6727,55 @@
       }
     }
   },
-  "BATTC_": {
-    "BATTC_AMP_OFFSET": {
+  "BATTG_": {
+    "BATTG_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTC_AMP_PERVLT": {
+    "BATTG_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATTC_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC__ARM_VOLT parameter.",
+    "BATTG_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATTC_ARM_VOLT": {
+    "BATTG_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTC_CAPACITY": {
+    "BATTG_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTC_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC__FS_CRT_ACT parameter.",
+    "BATTG_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTC_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.",
+    "BATTG_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTC_CURR_MULT": {
+    "BATTG_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -6706,7 +6784,7 @@
       },
       "User": "Advanced"
     },
-    "BATTC_CURR_PIN": {
+    "BATTG_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -6721,7 +6799,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATTC_ESC_INDEX": {
+    "BATTG_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -6731,7 +6809,7 @@
       },
       "User": "Advanced"
     },
-    "BATTC_FL_FF": {
+    "BATTG_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -6740,7 +6818,7 @@
       },
       "User": "Advanced"
     },
-    "BATTC_FL_FLTR": {
+    "BATTG_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -6751,7 +6829,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATTC_FL_FS": {
+    "BATTG_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -6760,7 +6838,7 @@
       },
       "User": "Advanced"
     },
-    "BATTC_FL_FT": {
+    "BATTG_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -6769,7 +6847,7 @@
       },
       "User": "Advanced"
     },
-    "BATTC_FL_OFF": {
+    "BATTG_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -6778,7 +6856,7 @@
       },
       "User": "Advanced"
     },
-    "BATTC_FL_PIN": {
+    "BATTG_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -6790,7 +6868,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATTC_FL_VLT_MIN": {
+    "BATTG_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -6800,7 +6878,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTC_FL_V_MULT": {
+    "BATTG_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -6809,7 +6887,7 @@
       },
       "User": "Advanced"
     },
-    "BATTC_FS_CRT_ACT": {
+    "BATTG_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -6819,7 +6897,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATTC_FS_LOW_ACT": {
+    "BATTG_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -6829,7 +6907,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATTC_FS_VOLTSRC": {
+    "BATTG_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -6838,7 +6916,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATTC_I2C_ADDR": {
+    "BATTG_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -6846,10 +6924,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATTC_I2C_BUS": {
+    "BATTG_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -6857,17 +6934,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATTC_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.",
+    "BATTG_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTC_LOW_TIMER": {
+    "BATTG_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -6878,14 +6954,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATTC_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.",
+    "BATTG_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTC_MAX_AMPS": {
+    "BATTG_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -6895,7 +6971,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATTC_MAX_VOLT": {
+    "BATTG_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -6904,7 +6980,7 @@
       },
       "User": "Advanced"
     },
-    "BATTC_MONITOR": {
+    "BATTG_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -6940,7 +7016,7 @@
         "9": "ESC"
       }
     },
-    "BATTC_OPTIONS": {
+    "BATTG_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -6955,12 +7031,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATTC_SERIAL_NUM": {
+    "BATTG_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATTC_SHUNT": {
+    "BATTG_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -6970,7 +7046,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATTC_SUM_MASK": {
+    "BATTG_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -6986,18 +7062,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATTC_VLT_OFFSET": {
+    "BATTG_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTC_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATTG_VOLT_MULT": {
+      "Description": "Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATTC_VOLT_PIN": {
+    "BATTG_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -7013,55 +7089,55 @@
       }
     }
   },
-  "BATTD_": {
-    "BATTD_AMP_OFFSET": {
+  "BATT_": {
+    "BATT_AMP_OFFSET": {
       "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
       "DisplayName": "AMP offset",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTD_AMP_PERVLT": {
+    "BATT_AMP_PERVLT": {
       "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
       "DisplayName": "Amps per volt",
       "Units": "A/V",
       "User": "Standard"
     },
-    "BATTD_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD__ARM_VOLT parameter.",
+    "BATT_ARM_MAH": {
+      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.",
       "DisplayName": "Required arming remaining capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Advanced"
     },
-    "BATTD_ARM_VOLT": {
+    "BATT_ARM_VOLT": {
       "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
       "DisplayName": "Required arming voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTD_CAPACITY": {
+    "BATT_CAPACITY": {
       "Description": "Capacity of the battery in mAh when full",
       "DisplayName": "Battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTD_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD__FS_CRT_ACT parameter.",
+    "BATT_CRT_MAH": {
+      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.",
       "DisplayName": "Battery critical capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTD_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.",
+    "BATT_CRT_VOLT": {
+      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.",
       "DisplayName": "Critical battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTD_CURR_MULT": {
+    "BATT_CURR_MULT": {
       "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
       "DisplayName": "Scales reported power monitor current",
       "Range": {
@@ -7070,7 +7146,7 @@
       },
       "User": "Advanced"
     },
-    "BATTD_CURR_PIN": {
+    "BATT_CURR_PIN": {
       "Description": "Sets the analog input pin that should be used for current monitoring.",
       "DisplayName": "Battery Current sensing pin",
       "RebootRequired": "True",
@@ -7085,7 +7161,7 @@
         "4": "CubeOrange_PM2/Navigator"
       }
     },
-    "BATTD_ESC_INDEX": {
+    "BATT_ESC_INDEX": {
       "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
       "DisplayName": "ESC Telemetry Index to write to",
       "Increment": "1",
@@ -7095,7 +7171,7 @@
       },
       "User": "Advanced"
     },
-    "BATTD_FL_FF": {
+    "BATT_FL_FF": {
       "Description": "First order polynomial fit term",
       "DisplayName": "First order term",
       "Range": {
@@ -7104,7 +7180,7 @@
       },
       "User": "Advanced"
     },
-    "BATTD_FL_FLTR": {
+    "BATT_FL_FLTR": {
       "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
       "DisplayName": "Fuel level filter frequency",
       "Range": {
@@ -7115,7 +7191,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "BATTD_FL_FS": {
+    "BATT_FL_FS": {
       "Description": "Second order polynomial fit term",
       "DisplayName": "Second order term",
       "Range": {
@@ -7124,7 +7200,7 @@
       },
       "User": "Advanced"
     },
-    "BATTD_FL_FT": {
+    "BATT_FL_FT": {
       "Description": "Third order polynomial fit term",
       "DisplayName": "Third order term",
       "Range": {
@@ -7133,7 +7209,7 @@
       },
       "User": "Advanced"
     },
-    "BATTD_FL_OFF": {
+    "BATT_FL_OFF": {
       "Description": "Offset polynomial fit term",
       "DisplayName": "Offset term",
       "Range": {
@@ -7142,7 +7218,7 @@
       },
       "User": "Advanced"
     },
-    "BATTD_FL_PIN": {
+    "BATT_FL_PIN": {
       "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
       "DisplayName": "Fuel level analog pin number",
       "Values": {
@@ -7154,7 +7230,7 @@
         "15": "Pixhawk ADC6/Pixhawk2 ADC"
       }
     },
-    "BATTD_FL_VLT_MIN": {
+    "BATT_FL_VLT_MIN": {
       "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Empty fuel level voltage",
       "Range": {
@@ -7164,7 +7240,7 @@
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTD_FL_V_MULT": {
+    "BATT_FL_V_MULT": {
       "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
       "DisplayName": "Fuel level voltage multiplier",
       "Range": {
@@ -7173,7 +7249,7 @@
       },
       "User": "Advanced"
     },
-    "BATTD_FS_CRT_ACT": {
+    "BATT_FS_CRT_ACT": {
       "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
       "DisplayName": "Critical battery failsafe action",
       "User": "Standard",
@@ -7183,7 +7259,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATTD_FS_LOW_ACT": {
+    "BATT_FS_LOW_ACT": {
       "Description": "What action the vehicle should perform if it hits a low battery failsafe",
       "DisplayName": "Low battery failsafe action",
       "User": "Standard",
@@ -7193,7 +7269,7 @@
         "3": "Enter surface mode"
       }
     },
-    "BATTD_FS_VOLTSRC": {
+    "BATT_FS_VOLTSRC": {
       "Description": "Voltage type used for detection of low voltage event",
       "DisplayName": "Failsafe voltage source",
       "User": "Advanced",
@@ -7202,7 +7278,7 @@
         "1": "Sag Compensated Voltage"
       }
     },
-    "BATTD_I2C_ADDR": {
+    "BATT_I2C_ADDR": {
       "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
       "DisplayName": "Battery monitor I2C address",
       "Range": {
@@ -7210,10 +7286,9 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATTD_I2C_BUS": {
+    "BATT_I2C_BUS": {
       "Description": "Battery monitor I2C bus number",
       "DisplayName": "Battery monitor I2C bus number",
       "Range": {
@@ -7221,17 +7296,16 @@
         "low": "0"
       },
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATTD_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.",
+    "BATT_LOW_MAH": {
+      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery capacity",
       "Increment": "50",
       "Units": "mAh",
       "User": "Standard"
     },
-    "BATTD_LOW_TIMER": {
+    "BATT_LOW_TIMER": {
       "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
       "DisplayName": "Low voltage timeout",
       "Increment": "1",
@@ -7242,14 +7316,14 @@
       "Units": "s",
       "User": "Advanced"
     },
-    "BATTD_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.",
+    "BATT_LOW_VOLT": {
+      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.",
       "DisplayName": "Low battery voltage",
       "Increment": "0.1",
       "Units": "V",
       "User": "Standard"
     },
-    "BATTD_MAX_AMPS": {
+    "BATT_MAX_AMPS": {
       "Description": "This controls the maximum current the INS2XX sensor will work with.",
       "DisplayName": "Battery monitor max current",
       "Range": {
@@ -7259,7 +7333,7 @@
       "Units": "A",
       "User": "Advanced"
     },
-    "BATTD_MAX_VOLT": {
+    "BATT_MAX_VOLT": {
       "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
       "DisplayName": "Maximum Battery Voltage",
       "Range": {
@@ -7268,7 +7342,7 @@
       },
       "User": "Advanced"
     },
-    "BATTD_MONITOR": {
+    "BATT_MONITOR": {
       "Description": "Controls enabling monitoring of the battery's voltage and current",
       "DisplayName": "Battery monitoring",
       "RebootRequired": "True",
@@ -7304,7 +7378,7 @@
         "9": "ESC"
       }
     },
-    "BATTD_OPTIONS": {
+    "BATT_OPTIONS": {
       "Bitmask": {
         "0": "Ignore DroneCAN SoC",
         "1": "MPPT reports input voltage and current",
@@ -7319,12 +7393,12 @@
       "DisplayName": "Battery monitor options",
       "User": "Advanced"
     },
-    "BATTD_SERIAL_NUM": {
+    "BATT_SERIAL_NUM": {
       "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
       "DisplayName": "Battery serial number",
       "User": "Advanced"
     },
-    "BATTD_SHUNT": {
+    "BATT_SHUNT": {
       "Description": "This sets the shunt resistor used in the device",
       "DisplayName": "Battery monitor shunt resistor",
       "Range": {
@@ -7334,7 +7408,7 @@
       "Units": "Ohm",
       "User": "Advanced"
     },
-    "BATTD_SUM_MASK": {
+    "BATT_SUM_MASK": {
       "Bitmask": {
         "0": "monitor 1",
         "1": "monitor 2",
@@ -7350,18 +7424,18 @@
       "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATTD_VLT_OFFSET": {
+    "BATT_VLT_OFFSET": {
       "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
       "DisplayName": "Voltage offset",
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTD_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
+    "BATT_VOLT_MULT": {
+      "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 with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
       "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
     },
-    "BATTD_VOLT_PIN": {
+    "BATT_VOLT_PIN": {
       "Description": "Sets the analog input pin that should be used for voltage monitoring.",
       "DisplayName": "Battery Voltage sensing pin",
       "RebootRequired": "True",
@@ -7377,1969 +7451,901 @@
       }
     }
   },
-  "BATTE_": {
-    "BATTE_AMP_OFFSET": {
-      "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
-      "DisplayName": "AMP offset",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATTE_AMP_PERVLT": {
-      "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
-      "DisplayName": "Amps per volt",
-      "Units": "A/V",
-      "User": "Standard"
-    },
-    "BATTE_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE__ARM_VOLT parameter.",
-      "DisplayName": "Required arming remaining capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Advanced"
-    },
-    "BATTE_ARM_VOLT": {
-      "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
-      "DisplayName": "Required arming voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATTE_CAPACITY": {
-      "Description": "Capacity of the battery in mAh when full",
-      "DisplayName": "Battery capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATTE_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE__FS_CRT_ACT parameter.",
-      "DisplayName": "Battery critical capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATTE_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.",
-      "DisplayName": "Critical battery voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATTE_CURR_MULT": {
-      "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
-      "DisplayName": "Scales reported power monitor current",
-      "Range": {
-        "high": "10",
-        "low": ".1"
-      },
-      "User": "Advanced"
-    },
-    "BATTE_CURR_PIN": {
-      "Description": "Sets the analog input pin that should be used for current monitoring.",
-      "DisplayName": "Battery Current sensing pin",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "101": "PX4-v1",
-        "14": "Pixhawk2_PM2",
-        "15": "CubeOrange",
-        "17": "Durandal",
-        "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
-      }
-    },
-    "BATTE_ESC_INDEX": {
-      "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
-      "DisplayName": "ESC Telemetry Index to write to",
+  "BRD_": {
+    "BRD_ALT_CONFIG": {
+      "Description": "Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.",
+      "DisplayName": "Alternative HW config",
       "Increment": "1",
       "Range": {
         "high": "10",
         "low": "0"
       },
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "BATTE_FL_FF": {
-      "Description": "First order polynomial fit term",
-      "DisplayName": "First order term",
+    "BRD_BOOT_DELAY": {
+      "Description": "This adds a delay in milliseconds to boot to ensure peripherals initialise fully",
+      "DisplayName": "Boot delay",
       "Range": {
-        "high": "10",
+        "high": "10000",
         "low": "0"
       },
+      "Units": "ms",
       "User": "Advanced"
     },
-    "BATTE_FL_FLTR": {
-      "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
-      "DisplayName": "Fuel level filter frequency",
+    "BRD_HEAT_I": {
+      "Description": "Board Heater integrator gain",
+      "DisplayName": "Board Heater I gain",
+      "Increment": "0.1",
       "Range": {
         "high": "1",
-        "low": "-1"
+        "low": "0"
       },
-      "RebootRequired": "True",
-      "Units": "Hz",
       "User": "Advanced"
     },
-    "BATTE_FL_FS": {
-      "Description": "Second order polynomial fit term",
-      "DisplayName": "Second order term",
+    "BRD_HEAT_IMAX": {
+      "Description": "Board Heater integrator maximum",
+      "DisplayName": "Board Heater IMAX",
+      "Increment": "1",
       "Range": {
-        "high": "10",
+        "high": "100",
         "low": "0"
       },
       "User": "Advanced"
     },
-    "BATTE_FL_FT": {
-      "Description": "Third order polynomial fit term",
-      "DisplayName": "Third order term",
+    "BRD_HEAT_LOWMGN": {
+      "Description": "Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check",
+      "DisplayName": "Board heater temp lower margin",
       "Range": {
-        "high": "10",
+        "high": "20",
         "low": "0"
       },
+      "Units": "degC",
       "User": "Advanced"
     },
-    "BATTE_FL_OFF": {
-      "Description": "Offset polynomial fit term",
-      "DisplayName": "Offset term",
+    "BRD_HEAT_P": {
+      "Description": "Board Heater P gain",
+      "DisplayName": "Board Heater P gain",
+      "Increment": "1",
       "Range": {
-        "high": "10",
-        "low": "0"
+        "high": "500",
+        "low": "1"
       },
       "User": "Advanced"
     },
-    "BATTE_FL_PIN": {
-      "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
-      "DisplayName": "Fuel level analog pin number",
-      "Values": {
-        "-1": "Not Used",
-        "103": "Pixhawk SBUS",
-        "11": "Pixracer",
-        "13": "Pixhawk ADC4",
-        "14": "Pixhawk ADC3",
-        "15": "Pixhawk ADC6/Pixhawk2 ADC"
-      }
-    },
-    "BATTE_FL_VLT_MIN": {
-      "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
-      "DisplayName": "Empty fuel level voltage",
+    "BRD_HEAT_TARG": {
+      "Description": "Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.",
+      "DisplayName": "Board heater temperature target",
       "Range": {
-        "high": "10",
-        "low": "0.01"
+        "high": "80",
+        "low": "-1"
       },
-      "Units": "V",
+      "Units": "degC",
       "User": "Advanced"
     },
-    "BATTE_FL_V_MULT": {
-      "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
-      "DisplayName": "Fuel level voltage multiplier",
-      "Range": {
-        "high": "10",
-        "low": "0.01"
-      },
-      "User": "Advanced"
-    },
-    "BATTE_FS_CRT_ACT": {
-      "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
-      "DisplayName": "Critical battery failsafe action",
-      "User": "Standard",
+    "BRD_IO_DSHOT": {
+      "Description": "This loads the DShot firmware on the IO co-processor",
+      "DisplayName": "Load DShot FW on IO",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
-        "0": "None",
-        "2": "Disarm",
-        "3": "Enter surface mode"
+        "0": "StandardFW",
+        "1": "DshotFW"
       }
     },
-    "BATTE_FS_LOW_ACT": {
-      "Description": "What action the vehicle should perform if it hits a low battery failsafe",
-      "DisplayName": "Low battery failsafe action",
-      "User": "Standard",
+    "BRD_IO_ENABLE": {
+      "Description": "This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup",
+      "DisplayName": "Enable IO co-processor",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
-        "0": "None",
-        "2": "Disarm",
-        "3": "Enter surface mode"
+        "0": "Disabled",
+        "1": "Enabled",
+        "2": "EnableNoFWUpdate"
       }
     },
-    "BATTE_FS_VOLTSRC": {
-      "Description": "Voltage type used for detection of low voltage event",
-      "DisplayName": "Failsafe voltage source",
+    "BRD_OPTIONS": {
+      "Bitmask": {
+        "0": "Enable hardware watchdog",
+        "1": "Disable MAVftp",
+        "2": "Enable set of internal parameters",
+        "3": "Enable Debug Pins",
+        "4": "Unlock flash on reboot",
+        "5": "Write protect firmware flash on reboot",
+        "6": "Write protect bootloader flash on reboot",
+        "7": "Skip board validation",
+        "8": "Disable board arming gpio output change on arm/disarm"
+      },
+      "Description": "Board specific option flags",
+      "DisplayName": "Board options",
+      "User": "Advanced"
+    },
+    "BRD_PWM_VOLT_SEL": {
+      "Description": "This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.",
+      "DisplayName": "Set PWM Out Voltage",
       "User": "Advanced",
       "Values": {
-        "0": "Raw Voltage",
-        "1": "Sag Compensated Voltage"
+        "0": "3.3V",
+        "1": "5V"
       }
     },
-    "BATTE_I2C_ADDR": {
-      "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
-      "DisplayName": "Battery monitor I2C address",
-      "Range": {
-        "high": "127",
-        "low": "0"
+    "BRD_SAFETYOPTION": {
+      "Bitmask": {
+        "0": "ActiveForSafetyDisable",
+        "1": "ActiveForSafetyEnable",
+        "2": "ActiveWhenArmed",
+        "3": "Force safety on when the aircraft disarms"
       },
+      "Description": "This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed",
+      "DisplayName": "Options for safety button behavior",
+      "User": "Standard"
+    },
+    "BRD_SAFETY_DEFLT": {
+      "Description": "This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.",
+      "DisplayName": "Sets default state of the safety switch",
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "BATTE_I2C_BUS": {
-      "Description": "Battery monitor I2C bus number",
-      "DisplayName": "Battery monitor I2C bus number",
-      "Range": {
-        "high": "3",
-        "low": "0"
+    "BRD_SAFETY_MASK": {
+      "Bitmask": {
+        "0": "Output1",
+        "1": "Output2",
+        "10": "Output11",
+        "11": "Output12",
+        "12": "Output13",
+        "13": "Output14",
+        "2": "Output3",
+        "3": "Output4",
+        "4": "Output5",
+        "5": "Output6",
+        "6": "Output7",
+        "7": "Output8",
+        "8": "Output9",
+        "9": "Output10"
       },
+      "Description": "A bitmask which controls what outputs can move while the safety switch has not been pressed",
+      "DisplayName": "Outputs which ignore the safety switch state",
       "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
+      "User": "Advanced"
     },
-    "BATTE_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.",
-      "DisplayName": "Low battery capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
+    "BRD_SBUS_OUT": {
+      "Description": "This sets the SBUS output frame rate in Hz",
+      "DisplayName": " SBUS output rate",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "50Hz",
+        "2": "75Hz",
+        "3": "100Hz",
+        "4": "150Hz",
+        "5": "200Hz",
+        "6": "250Hz",
+        "7": "300Hz"
+      }
     },
-    "BATTE_LOW_TIMER": {
-      "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
-      "DisplayName": "Low voltage timeout",
-      "Increment": "1",
+    "BRD_SD_MISSION": {
+      "Description": "This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.",
+      "DisplayName": " SDCard Mission size",
       "Range": {
-        "high": "120",
+        "high": "64",
         "low": "0"
       },
-      "Units": "s",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "BATTE_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.",
-      "DisplayName": "Low battery voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATTE_MAX_AMPS": {
-      "Description": "This controls the maximum current the INS2XX sensor will work with.",
-      "DisplayName": "Battery monitor max current",
+    "BRD_SD_SLOWDOWN": {
+      "Description": "This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.",
+      "DisplayName": "microSD slowdown",
+      "Increment": "1",
       "Range": {
-        "high": "400",
-        "low": "1"
+        "high": "32",
+        "low": "0"
       },
-      "Units": "A",
       "User": "Advanced"
     },
-    "BATTE_MAX_VOLT": {
-      "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
-      "DisplayName": "Maximum Battery Voltage",
-      "Range": {
-        "high": "100",
-        "low": "7"
-      },
-      "User": "Advanced"
+    "BRD_SER1_RTSCTS": {
+      "Description": "Enable flow control on serial 1 (telemetry 1). 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.",
+      "DisplayName": "Serial 1 flow control",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled",
+        "2": "Auto"
+      }
     },
-    "BATTE_MONITOR": {
-      "Description": "Controls enabling monitoring of the battery's voltage and current",
-      "DisplayName": "Battery monitoring",
+    "BRD_SER2_RTSCTS": {
+      "Description": "Enable flow control on serial 2 (telemetry 2). 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.",
+      "DisplayName": "Serial 2 flow control",
       "RebootRequired": "True",
-      "User": "Standard",
+      "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "10": "Sum Of Selected Monitors",
-        "11": "FuelFlow",
-        "12": "FuelLevelPWM",
-        "13": "SMBUS-SUI3",
-        "14": "SMBUS-SUI6",
-        "15": "NeoDesign",
-        "16": "SMBus-Maxell",
-        "17": "Generator-Elec",
-        "18": "Generator-Fuel",
-        "19": "Rotoye",
-        "20": "MPPT",
-        "21": "INA2XX",
-        "22": "LTC2946",
-        "23": "Torqeedo",
-        "24": "FuelLevelAnalog",
-        "25": "Synthetic Current and Analog Voltage",
-        "26": "INA239_SPI",
-        "27": "EFI",
-        "28": "AD7091R5",
-        "29": "Scripting",
-        "3": "Analog Voltage Only",
-        "4": "Analog Voltage and Current",
-        "5": "Solo",
-        "6": "Bebop",
-        "7": "SMBus-Generic",
-        "8": "DroneCAN-BatteryInfo",
-        "9": "ESC"
+        "1": "Enabled",
+        "2": "Auto"
       }
     },
-    "BATTE_OPTIONS": {
-      "Bitmask": {
-        "0": "Ignore DroneCAN SoC",
-        "1": "MPPT reports input voltage and current",
-        "2": "MPPT Powered off when disarmed",
-        "3": "MPPT Powered on when armed",
-        "4": "MPPT Powered off at boot",
-        "5": "MPPT Powered on at boot",
-        "6": "Send resistance compensated voltage to GCS",
-        "7": "Allow DroneCAN InfoAux to be from a different CAN node"
-      },
-      "Description": "This sets options to change the behaviour of the battery monitor",
-      "DisplayName": "Battery monitor options",
-      "User": "Advanced"
+    "BRD_SER3_RTSCTS": {
+      "Description": "Enable flow control on serial 3. 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.",
+      "DisplayName": "Serial 3 flow control",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled",
+        "2": "Auto"
+      }
     },
-    "BATTE_SERIAL_NUM": {
-      "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
-      "DisplayName": "Battery serial number",
-      "User": "Advanced"
+    "BRD_SER4_RTSCTS": {
+      "Description": "Enable flow control on serial 4. 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.",
+      "DisplayName": "Serial 4 flow control",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled",
+        "2": "Auto"
+      }
     },
-    "BATTE_SHUNT": {
-      "Description": "This sets the shunt resistor used in the device",
-      "DisplayName": "Battery monitor shunt resistor",
-      "Range": {
-        "high": "0.01",
-        "low": "0.0001"
-      },
-      "Units": "Ohm",
-      "User": "Advanced"
+    "BRD_SER5_RTSCTS": {
+      "Description": "Enable flow control on serial 5. 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.",
+      "DisplayName": "Serial 5 flow control",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled",
+        "2": "Auto"
+      }
     },
-    "BATTE_SUM_MASK": {
-      "Bitmask": {
-        "0": "monitor 1",
-        "1": "monitor 2",
-        "2": "monitor 3",
-        "3": "monitor 4",
-        "4": "monitor 5",
-        "5": "monitor 6",
-        "6": "monitor 7",
-        "7": "monitor 8",
-        "8": "monitor 9"
+    "BRD_SERIAL_NUM": {
+      "Description": "User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot",
+      "DisplayName": "User-defined serial number",
+      "Range": {
+        "high": "8388607",
+        "low": "-8388608"
       },
-      "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.",
-      "DisplayName": "Battery Sum mask",
       "User": "Standard"
     },
-    "BATTE_VLT_OFFSET": {
-      "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
-      "DisplayName": "Voltage offset",
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATTE_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
-      "DisplayName": "Voltage Multiplier",
-      "User": "Advanced"
-    },
-    "BATTE_VOLT_PIN": {
-      "Description": "Sets the analog input pin that should be used for voltage monitoring.",
-      "DisplayName": "Battery Voltage sensing pin",
+    "BRD_TYPE": {
+      "Description": "This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)",
+      "DisplayName": "Board type",
       "RebootRequired": "True",
-      "User": "Standard",
+      "User": "Advanced",
       "Values": {
-        "-1": "Disabled",
-        "100": "PX4-v1",
-        "13": "Pixhawk2_PM2/CubeOrange_PM2",
-        "14": "CubeOrange",
-        "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
+        "0": "AUTO",
+        "1": "PX4V1",
+        "100": "PX4 OLDDRIVERS",
+        "13": "Intel Aero FC",
+        "14": "Pixhawk Pro",
+        "2": "Pixhawk",
+        "20": "AUAV2.1",
+        "21": "PCNC1",
+        "22": "MINDPXV2",
+        "23": "SP01",
+        "24": "CUAVv5/FMUV5",
+        "3": "Cube/Pixhawk2",
+        "30": "VRX BRAIN51",
+        "32": "VRX BRAIN52",
+        "33": "VRX BRAIN52E",
+        "34": "VRX UBRAIN51",
+        "35": "VRX UBRAIN52",
+        "36": "VRX CORE10",
+        "38": "VRX BRAIN54",
+        "39": "PX4 FMUV6",
+        "4": "Pixracer",
+        "5": "PixhawkMini",
+        "6": "Pixhawk2Slim"
       }
-    }
-  },
-  "BATTF_": {
-    "BATTF_AMP_OFFSET": {
-      "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
-      "DisplayName": "AMP offset",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATTF_AMP_PERVLT": {
-      "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
-      "DisplayName": "Amps per volt",
-      "Units": "A/V",
-      "User": "Standard"
-    },
-    "BATTF_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF__ARM_VOLT parameter.",
-      "DisplayName": "Required arming remaining capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Advanced"
     },
-    "BATTF_ARM_VOLT": {
-      "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
-      "DisplayName": "Required arming voltage",
+    "BRD_VBUS_MIN": {
+      "Description": "Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.",
+      "DisplayName": "Autopilot board voltage requirement",
       "Increment": "0.1",
+      "Range": {
+        "high": "5.5",
+        "low": "4.0"
+      },
       "Units": "V",
       "User": "Advanced"
     },
-    "BATTF_CAPACITY": {
-      "Description": "Capacity of the battery in mAh when full",
-      "DisplayName": "Battery capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATTF_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF__FS_CRT_ACT parameter.",
-      "DisplayName": "Battery critical capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATTF_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.",
-      "DisplayName": "Critical battery voltage",
+    "BRD_VSERVO_MIN": {
+      "Description": "Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.",
+      "DisplayName": "Servo voltage requirement",
       "Increment": "0.1",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATTF_CURR_MULT": {
-      "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
-      "DisplayName": "Scales reported power monitor current",
       "Range": {
-        "high": "10",
-        "low": ".1"
+        "high": "12.0",
+        "low": "3.3"
       },
+      "Units": "V",
       "User": "Advanced"
-    },
-    "BATTF_CURR_PIN": {
-      "Description": "Sets the analog input pin that should be used for current monitoring.",
-      "DisplayName": "Battery Current sensing pin",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "101": "PX4-v1",
-        "14": "Pixhawk2_PM2",
-        "15": "CubeOrange",
-        "17": "Durandal",
-        "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
-      }
-    },
-    "BATTF_ESC_INDEX": {
-      "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
-      "DisplayName": "ESC Telemetry Index to write to",
-      "Increment": "1",
+    }
+  },
+  "BRD_RADIO": {
+    "BRD_RADIO_ABLVL": {
+      "Description": "This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially",
+      "DisplayName": "Auto-bind level",
       "Range": {
-        "high": "10",
+        "high": "31",
         "low": "0"
       },
       "User": "Advanced"
     },
-    "BATTF_FL_FF": {
-      "Description": "First order polynomial fit term",
-      "DisplayName": "First order term",
+    "BRD_RADIO_ABTIME": {
+      "Description": "When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.",
+      "DisplayName": "Auto-bind time",
       "Range": {
-        "high": "10",
+        "high": "120",
         "low": "0"
       },
       "User": "Advanced"
     },
-    "BATTF_FL_FLTR": {
-      "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
-      "DisplayName": "Fuel level filter frequency",
+    "BRD_RADIO_BZOFS": {
+      "Description": "Set transmitter buzzer note adjustment (adjust frequency up)",
+      "DisplayName": "Transmitter buzzer adjustment",
       "Range": {
-        "high": "1",
-        "low": "-1"
+        "high": "40",
+        "low": "0"
       },
-      "RebootRequired": "True",
-      "Units": "Hz",
       "User": "Advanced"
     },
-    "BATTF_FL_FS": {
-      "Description": "Second order polynomial fit term",
-      "DisplayName": "Second order term",
+    "BRD_RADIO_DEBUG": {
+      "Description": "radio debug level",
+      "DisplayName": "debug level",
       "Range": {
-        "high": "10",
+        "high": "4",
         "low": "0"
       },
       "User": "Advanced"
     },
-    "BATTF_FL_FT": {
-      "Description": "Third order polynomial fit term",
-      "DisplayName": "Third order term",
+    "BRD_RADIO_DISCRC": {
+      "Description": "disable receive CRC (for debug)",
+      "DisplayName": "disable receive CRC",
+      "User": "Advanced",
+      "Values": {
+        "0": "NotDisabled",
+        "1": "Disabled"
+      }
+    },
+    "BRD_RADIO_FCCTST": {
+      "Description": "If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled",
+      "DisplayName": "Put radio into FCC test mode",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "MinChannel",
+        "2": "MidChannel",
+        "3": "MaxChannel",
+        "4": "MinChannelCW",
+        "5": "MidChannelCW",
+        "6": "MaxChannelCW"
+      }
+    },
+    "BRD_RADIO_PPSCH": {
+      "Description": "Channel to show received packet-per-second rate, or zero for disabled",
+      "DisplayName": "Packet rate channel",
       "Range": {
-        "high": "10",
+        "high": "16",
         "low": "0"
       },
       "User": "Advanced"
     },
-    "BATTF_FL_OFF": {
-      "Description": "Offset polynomial fit term",
-      "DisplayName": "Offset term",
+    "BRD_RADIO_PROT": {
+      "Description": "Select air protocol",
+      "DisplayName": "protocol",
+      "User": "Advanced",
+      "Values": {
+        "0": "Auto",
+        "1": "DSM2",
+        "2": "DSMX"
+      }
+    },
+    "BRD_RADIO_SIGCH": {
+      "Description": "Channel to show receive RSSI signal strength, or zero for disabled",
+      "DisplayName": "RSSI signal strength",
       "Range": {
-        "high": "10",
+        "high": "16",
         "low": "0"
       },
       "User": "Advanced"
     },
-    "BATTF_FL_PIN": {
-      "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
-      "DisplayName": "Fuel level analog pin number",
-      "Values": {
-        "-1": "Not Used",
-        "103": "Pixhawk SBUS",
-        "11": "Pixracer",
-        "13": "Pixhawk ADC4",
-        "14": "Pixhawk ADC3",
-        "15": "Pixhawk ADC6/Pixhawk2 ADC"
-      }
-    },
-    "BATTF_FL_VLT_MIN": {
-      "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
-      "DisplayName": "Empty fuel level voltage",
-      "Range": {
-        "high": "10",
-        "low": "0.01"
-      },
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATTF_FL_V_MULT": {
-      "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
-      "DisplayName": "Fuel level voltage multiplier",
-      "Range": {
-        "high": "10",
-        "low": "0.01"
-      },
-      "User": "Advanced"
-    },
-    "BATTF_FS_CRT_ACT": {
-      "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
-      "DisplayName": "Critical battery failsafe action",
-      "User": "Standard",
+    "BRD_RADIO_STKMD": {
+      "Description": "This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.",
+      "DisplayName": "Stick input mode",
+      "User": "Advanced",
       "Values": {
-        "0": "None",
-        "2": "Disarm",
-        "3": "Enter surface mode"
+        "1": "Mode1",
+        "2": "Mode2"
       }
     },
-    "BATTF_FS_LOW_ACT": {
-      "Description": "What action the vehicle should perform if it hits a low battery failsafe",
-      "DisplayName": "Low battery failsafe action",
-      "User": "Standard",
+    "BRD_RADIO_TELEM": {
+      "Description": "If this is non-zero then telemetry packets will be sent over DSM",
+      "DisplayName": "Enable telemetry",
+      "User": "Advanced",
       "Values": {
-        "0": "None",
-        "2": "Disarm",
-        "3": "Enter surface mode"
+        "0": "Disabled",
+        "1": "Enabled"
       }
     },
-    "BATTF_FS_VOLTSRC": {
-      "Description": "Voltage type used for detection of low voltage event",
-      "DisplayName": "Failsafe voltage source",
+    "BRD_RADIO_TESTCH": {
+      "Description": "This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.",
+      "DisplayName": "Set radio to factory test channel",
       "User": "Advanced",
       "Values": {
-        "0": "Raw Voltage",
-        "1": "Sag Compensated Voltage"
+        "0": "Disabled",
+        "1": "TestChan1",
+        "2": "TestChan2",
+        "3": "TestChan3",
+        "4": "TestChan4",
+        "5": "TestChan5",
+        "6": "TestChan6",
+        "7": "TestChan7",
+        "8": "TestChan8"
       }
     },
-    "BATTF_I2C_ADDR": {
-      "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
-      "DisplayName": "Battery monitor I2C address",
-      "Range": {
-        "high": "127",
-        "low": "0"
-      },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
-    },
-    "BATTF_I2C_BUS": {
-      "Description": "Battery monitor I2C bus number",
-      "DisplayName": "Battery monitor I2C bus number",
+    "BRD_RADIO_TPPSCH": {
+      "Description": "Channel to show telemetry packets-per-second value, as received at TX",
+      "DisplayName": "Telemetry PPS channel",
       "Range": {
-        "high": "3",
+        "high": "16",
         "low": "0"
       },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
-    },
-    "BATTF_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.",
-      "DisplayName": "Low battery capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "BATTF_LOW_TIMER": {
-      "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
-      "DisplayName": "Low voltage timeout",
-      "Increment": "1",
+    "BRD_RADIO_TSIGCH": {
+      "Description": "Channel to show telemetry RSSI value as received by TX",
+      "DisplayName": "RSSI value channel for telemetry data on transmitter",
       "Range": {
-        "high": "120",
+        "high": "16",
         "low": "0"
       },
-      "Units": "s",
       "User": "Advanced"
     },
-    "BATTF_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.",
-      "DisplayName": "Low battery voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATTF_MAX_AMPS": {
-      "Description": "This controls the maximum current the INS2XX sensor will work with.",
-      "DisplayName": "Battery monitor max current",
+    "BRD_RADIO_TXMAX": {
+      "Description": "Set transmitter maximum transmit power (from 1 to 8)",
+      "DisplayName": "Transmitter transmit power",
       "Range": {
-        "high": "400",
+        "high": "8",
         "low": "1"
       },
-      "Units": "A",
       "User": "Advanced"
     },
-    "BATTF_MAX_VOLT": {
-      "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
-      "DisplayName": "Maximum Battery Voltage",
+    "BRD_RADIO_TXPOW": {
+      "Description": "Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX",
+      "DisplayName": "Telemetry Transmit power",
       "Range": {
-        "high": "100",
-        "low": "7"
+        "high": "8",
+        "low": "1"
       },
       "User": "Advanced"
     },
-    "BATTF_MONITOR": {
-      "Description": "Controls enabling monitoring of the battery's voltage and current",
-      "DisplayName": "Battery monitoring",
-      "RebootRequired": "True",
-      "User": "Standard",
+    "BRD_RADIO_TYPE": {
+      "Description": "This enables support for direct attached radio receivers",
+      "DisplayName": "Set type of direct attached radio",
       "Values": {
-        "0": "Disabled",
-        "10": "Sum Of Selected Monitors",
-        "11": "FuelFlow",
-        "12": "FuelLevelPWM",
-        "13": "SMBUS-SUI3",
-        "14": "SMBUS-SUI6",
-        "15": "NeoDesign",
-        "16": "SMBus-Maxell",
-        "17": "Generator-Elec",
-        "18": "Generator-Fuel",
-        "19": "Rotoye",
-        "20": "MPPT",
-        "21": "INA2XX",
-        "22": "LTC2946",
-        "23": "Torqeedo",
-        "24": "FuelLevelAnalog",
-        "25": "Synthetic Current and Analog Voltage",
-        "26": "INA239_SPI",
-        "27": "EFI",
-        "28": "AD7091R5",
-        "29": "Scripting",
-        "3": "Analog Voltage Only",
-        "4": "Analog Voltage and Current",
-        "5": "Solo",
-        "6": "Bebop",
-        "7": "SMBus-Generic",
-        "8": "DroneCAN-BatteryInfo",
-        "9": "ESC"
+        "0": "None",
+        "1": "CYRF6936",
+        "2": "CC2500",
+        "3": "BK2425"
       }
-    },
-    "BATTF_OPTIONS": {
+    }
+  },
+  "BRD_RTC": {
+    "BRD_RTC_TYPES": {
       "Bitmask": {
-        "0": "Ignore DroneCAN SoC",
-        "1": "MPPT reports input voltage and current",
-        "2": "MPPT Powered off when disarmed",
-        "3": "MPPT Powered on when armed",
-        "4": "MPPT Powered off at boot",
-        "5": "MPPT Powered on at boot",
-        "6": "Send resistance compensated voltage to GCS",
-        "7": "Allow DroneCAN InfoAux to be from a different CAN node"
+        "0": "GPS",
+        "1": "MAVLINK_SYSTEM_TIME",
+        "2": "HW"
       },
-      "Description": "This sets options to change the behaviour of the battery monitor",
-      "DisplayName": "Battery monitor options",
-      "User": "Advanced"
-    },
-    "BATTF_SERIAL_NUM": {
-      "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
-      "DisplayName": "Battery serial number",
+      "Description": "Specifies which sources of UTC time will be accepted",
+      "DisplayName": "Allowed sources of RTC time",
       "User": "Advanced"
     },
-    "BATTF_SHUNT": {
-      "Description": "This sets the shunt resistor used in the device",
-      "DisplayName": "Battery monitor shunt resistor",
+    "BRD_RTC_TZ_MIN": {
+      "Description": "Adds offset in +- minutes from UTC to calculate local time",
+      "DisplayName": "Timezone offset from UTC",
       "Range": {
-        "high": "0.01",
-        "low": "0.0001"
-      },
-      "Units": "Ohm",
-      "User": "Advanced"
-    },
-    "BATTF_SUM_MASK": {
-      "Bitmask": {
-        "0": "monitor 1",
-        "1": "monitor 2",
-        "2": "monitor 3",
-        "3": "monitor 4",
-        "4": "monitor 5",
-        "5": "monitor 6",
-        "6": "monitor 7",
-        "7": "monitor 8",
-        "8": "monitor 9"
+        "high": "+840",
+        "low": "-720"
       },
-      "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.",
-      "DisplayName": "Battery Sum mask",
-      "User": "Standard"
-    },
-    "BATTF_VLT_OFFSET": {
-      "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
-      "DisplayName": "Voltage offset",
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATTF_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
-      "DisplayName": "Voltage Multiplier",
       "User": "Advanced"
-    },
-    "BATTF_VOLT_PIN": {
-      "Description": "Sets the analog input pin that should be used for voltage monitoring.",
-      "DisplayName": "Battery Voltage sensing pin",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "100": "PX4-v1",
-        "13": "Pixhawk2_PM2/CubeOrange_PM2",
-        "14": "CubeOrange",
-        "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
-      }
     }
   },
-  "BATTG_": {
-    "BATTG_AMP_OFFSET": {
-      "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
-      "DisplayName": "AMP offset",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATTG_AMP_PERVLT": {
-      "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
-      "DisplayName": "Amps per volt",
-      "Units": "A/V",
-      "User": "Standard"
-    },
-    "BATTG_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG__ARM_VOLT parameter.",
-      "DisplayName": "Required arming remaining capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Advanced"
-    },
-    "BATTG_ARM_VOLT": {
-      "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
-      "DisplayName": "Required arming voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATTG_CAPACITY": {
-      "Description": "Capacity of the battery in mAh when full",
-      "DisplayName": "Battery capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATTG_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG__FS_CRT_ACT parameter.",
-      "DisplayName": "Battery critical capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATTG_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.",
-      "DisplayName": "Critical battery voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATTG_CURR_MULT": {
-      "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
-      "DisplayName": "Scales reported power monitor current",
-      "Range": {
-        "high": "10",
-        "low": ".1"
-      },
-      "User": "Advanced"
-    },
-    "BATTG_CURR_PIN": {
-      "Description": "Sets the analog input pin that should be used for current monitoring.",
-      "DisplayName": "Battery Current sensing pin",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "101": "PX4-v1",
-        "14": "Pixhawk2_PM2",
-        "15": "CubeOrange",
-        "17": "Durandal",
-        "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
-      }
-    },
-    "BATTG_ESC_INDEX": {
-      "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
-      "DisplayName": "ESC Telemetry Index to write to",
-      "Increment": "1",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATTG_FL_FF": {
-      "Description": "First order polynomial fit term",
-      "DisplayName": "First order term",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATTG_FL_FLTR": {
-      "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
-      "DisplayName": "Fuel level filter frequency",
-      "Range": {
-        "high": "1",
-        "low": "-1"
-      },
-      "RebootRequired": "True",
-      "Units": "Hz",
-      "User": "Advanced"
-    },
-    "BATTG_FL_FS": {
-      "Description": "Second order polynomial fit term",
-      "DisplayName": "Second order term",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATTG_FL_FT": {
-      "Description": "Third order polynomial fit term",
-      "DisplayName": "Third order term",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATTG_FL_OFF": {
-      "Description": "Offset polynomial fit term",
-      "DisplayName": "Offset term",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATTG_FL_PIN": {
-      "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
-      "DisplayName": "Fuel level analog pin number",
-      "Values": {
-        "-1": "Not Used",
-        "103": "Pixhawk SBUS",
-        "11": "Pixracer",
-        "13": "Pixhawk ADC4",
-        "14": "Pixhawk ADC3",
-        "15": "Pixhawk ADC6/Pixhawk2 ADC"
-      }
-    },
-    "BATTG_FL_VLT_MIN": {
-      "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
-      "DisplayName": "Empty fuel level voltage",
-      "Range": {
-        "high": "10",
-        "low": "0.01"
-      },
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATTG_FL_V_MULT": {
-      "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
-      "DisplayName": "Fuel level voltage multiplier",
-      "Range": {
-        "high": "10",
-        "low": "0.01"
-      },
-      "User": "Advanced"
-    },
-    "BATTG_FS_CRT_ACT": {
-      "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
-      "DisplayName": "Critical battery failsafe action",
-      "User": "Standard",
-      "Values": {
-        "0": "None",
-        "2": "Disarm",
-        "3": "Enter surface mode"
-      }
-    },
-    "BATTG_FS_LOW_ACT": {
-      "Description": "What action the vehicle should perform if it hits a low battery failsafe",
-      "DisplayName": "Low battery failsafe action",
-      "User": "Standard",
-      "Values": {
-        "0": "None",
-        "2": "Disarm",
-        "3": "Enter surface mode"
-      }
-    },
-    "BATTG_FS_VOLTSRC": {
-      "Description": "Voltage type used for detection of low voltage event",
-      "DisplayName": "Failsafe voltage source",
-      "User": "Advanced",
-      "Values": {
-        "0": "Raw Voltage",
-        "1": "Sag Compensated Voltage"
-      }
-    },
-    "BATTG_I2C_ADDR": {
-      "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
-      "DisplayName": "Battery monitor I2C address",
-      "Range": {
-        "high": "127",
-        "low": "0"
-      },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
-    },
-    "BATTG_I2C_BUS": {
-      "Description": "Battery monitor I2C bus number",
-      "DisplayName": "Battery monitor I2C bus number",
-      "Range": {
-        "high": "3",
-        "low": "0"
-      },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
-    },
-    "BATTG_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.",
-      "DisplayName": "Low battery capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATTG_LOW_TIMER": {
-      "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
-      "DisplayName": "Low voltage timeout",
-      "Increment": "1",
-      "Range": {
-        "high": "120",
-        "low": "0"
-      },
-      "Units": "s",
-      "User": "Advanced"
-    },
-    "BATTG_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.",
-      "DisplayName": "Low battery voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATTG_MAX_AMPS": {
-      "Description": "This controls the maximum current the INS2XX sensor will work with.",
-      "DisplayName": "Battery monitor max current",
-      "Range": {
-        "high": "400",
-        "low": "1"
-      },
-      "Units": "A",
-      "User": "Advanced"
-    },
-    "BATTG_MAX_VOLT": {
-      "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
-      "DisplayName": "Maximum Battery Voltage",
-      "Range": {
-        "high": "100",
-        "low": "7"
-      },
-      "User": "Advanced"
-    },
-    "BATTG_MONITOR": {
-      "Description": "Controls enabling monitoring of the battery's voltage and current",
-      "DisplayName": "Battery monitoring",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "10": "Sum Of Selected Monitors",
-        "11": "FuelFlow",
-        "12": "FuelLevelPWM",
-        "13": "SMBUS-SUI3",
-        "14": "SMBUS-SUI6",
-        "15": "NeoDesign",
-        "16": "SMBus-Maxell",
-        "17": "Generator-Elec",
-        "18": "Generator-Fuel",
-        "19": "Rotoye",
-        "20": "MPPT",
-        "21": "INA2XX",
-        "22": "LTC2946",
-        "23": "Torqeedo",
-        "24": "FuelLevelAnalog",
-        "25": "Synthetic Current and Analog Voltage",
-        "26": "INA239_SPI",
-        "27": "EFI",
-        "28": "AD7091R5",
-        "29": "Scripting",
-        "3": "Analog Voltage Only",
-        "4": "Analog Voltage and Current",
-        "5": "Solo",
-        "6": "Bebop",
-        "7": "SMBus-Generic",
-        "8": "DroneCAN-BatteryInfo",
-        "9": "ESC"
-      }
-    },
-    "BATTG_OPTIONS": {
-      "Bitmask": {
-        "0": "Ignore DroneCAN SoC",
-        "1": "MPPT reports input voltage and current",
-        "2": "MPPT Powered off when disarmed",
-        "3": "MPPT Powered on when armed",
-        "4": "MPPT Powered off at boot",
-        "5": "MPPT Powered on at boot",
-        "6": "Send resistance compensated voltage to GCS",
-        "7": "Allow DroneCAN InfoAux to be from a different CAN node"
-      },
-      "Description": "This sets options to change the behaviour of the battery monitor",
-      "DisplayName": "Battery monitor options",
-      "User": "Advanced"
-    },
-    "BATTG_SERIAL_NUM": {
-      "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
-      "DisplayName": "Battery serial number",
-      "User": "Advanced"
-    },
-    "BATTG_SHUNT": {
-      "Description": "This sets the shunt resistor used in the device",
-      "DisplayName": "Battery monitor shunt resistor",
-      "Range": {
-        "high": "0.01",
-        "low": "0.0001"
-      },
-      "Units": "Ohm",
-      "User": "Advanced"
-    },
-    "BATTG_SUM_MASK": {
-      "Bitmask": {
-        "0": "monitor 1",
-        "1": "monitor 2",
-        "2": "monitor 3",
-        "3": "monitor 4",
-        "4": "monitor 5",
-        "5": "monitor 6",
-        "6": "monitor 7",
-        "7": "monitor 8",
-        "8": "monitor 9"
-      },
-      "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.",
-      "DisplayName": "Battery Sum mask",
-      "User": "Standard"
-    },
-    "BATTG_VLT_OFFSET": {
-      "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
-      "DisplayName": "Voltage offset",
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATTG_VOLT_MULT": {
-      "Description": "Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
-      "DisplayName": "Voltage Multiplier",
-      "User": "Advanced"
-    },
-    "BATTG_VOLT_PIN": {
-      "Description": "Sets the analog input pin that should be used for voltage monitoring.",
-      "DisplayName": "Battery Voltage sensing pin",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "100": "PX4-v1",
-        "13": "Pixhawk2_PM2/CubeOrange_PM2",
-        "14": "CubeOrange",
-        "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
-      }
-    }
-  },
-  "BATT_": {
-    "BATT_AMP_OFFSET": {
-      "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.",
-      "DisplayName": "AMP offset",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATT_AMP_PERVLT": {
-      "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.",
-      "DisplayName": "Amps per volt",
-      "Units": "A/V",
-      "User": "Standard"
-    },
-    "BATT_ARM_MAH": {
-      "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.",
-      "DisplayName": "Required arming remaining capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Advanced"
-    },
-    "BATT_ARM_VOLT": {
-      "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.",
-      "DisplayName": "Required arming voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATT_CAPACITY": {
-      "Description": "Capacity of the battery in mAh when full",
-      "DisplayName": "Battery capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATT_CRT_MAH": {
-      "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.",
-      "DisplayName": "Battery critical capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATT_CRT_VOLT": {
-      "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.",
-      "DisplayName": "Critical battery voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATT_CURR_MULT": {
-      "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications",
-      "DisplayName": "Scales reported power monitor current",
-      "Range": {
-        "high": "10",
-        "low": ".1"
-      },
-      "User": "Advanced"
-    },
-    "BATT_CURR_PIN": {
-      "Description": "Sets the analog input pin that should be used for current monitoring.",
-      "DisplayName": "Battery Current sensing pin",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "101": "PX4-v1",
-        "14": "Pixhawk2_PM2",
-        "15": "CubeOrange",
-        "17": "Durandal",
-        "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "4": "CubeOrange_PM2/Navigator"
-      }
-    },
-    "BATT_ESC_INDEX": {
-      "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.",
-      "DisplayName": "ESC Telemetry Index to write to",
-      "Increment": "1",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATT_FL_FF": {
-      "Description": "First order polynomial fit term",
-      "DisplayName": "First order term",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATT_FL_FLTR": {
-      "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.",
-      "DisplayName": "Fuel level filter frequency",
-      "Range": {
-        "high": "1",
-        "low": "-1"
-      },
-      "RebootRequired": "True",
-      "Units": "Hz",
-      "User": "Advanced"
-    },
-    "BATT_FL_FS": {
-      "Description": "Second order polynomial fit term",
-      "DisplayName": "Second order term",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATT_FL_FT": {
-      "Description": "Third order polynomial fit term",
-      "DisplayName": "Third order term",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATT_FL_OFF": {
-      "Description": "Offset polynomial fit term",
-      "DisplayName": "Offset term",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BATT_FL_PIN": {
-      "Description": "Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.",
-      "DisplayName": "Fuel level analog pin number",
-      "Values": {
-        "-1": "Not Used",
-        "103": "Pixhawk SBUS",
-        "11": "Pixracer",
-        "13": "Pixhawk ADC4",
-        "14": "Pixhawk ADC3",
-        "15": "Pixhawk ADC6/Pixhawk2 ADC"
-      }
-    },
-    "BATT_FL_VLT_MIN": {
-      "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
-      "DisplayName": "Empty fuel level voltage",
-      "Range": {
-        "high": "10",
-        "low": "0.01"
-      },
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATT_FL_V_MULT": {
-      "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.",
-      "DisplayName": "Fuel level voltage multiplier",
-      "Range": {
-        "high": "10",
-        "low": "0.01"
-      },
-      "User": "Advanced"
-    },
-    "BATT_FS_CRT_ACT": {
-      "Description": "What action the vehicle should perform if it hits a critical battery failsafe",
-      "DisplayName": "Critical battery failsafe action",
-      "User": "Standard",
-      "Values": {
-        "0": "None",
-        "2": "Disarm",
-        "3": "Enter surface mode"
-      }
-    },
-    "BATT_FS_LOW_ACT": {
-      "Description": "What action the vehicle should perform if it hits a low battery failsafe",
-      "DisplayName": "Low battery failsafe action",
-      "User": "Standard",
-      "Values": {
-        "0": "None",
-        "2": "Disarm",
-        "3": "Enter surface mode"
-      }
-    },
-    "BATT_FS_VOLTSRC": {
-      "Description": "Voltage type used for detection of low voltage event",
-      "DisplayName": "Failsafe voltage source",
-      "User": "Advanced",
-      "Values": {
-        "0": "Raw Voltage",
-        "1": "Sag Compensated Voltage"
-      }
-    },
-    "BATT_I2C_ADDR": {
-      "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses",
-      "DisplayName": "Battery monitor I2C address",
-      "Range": {
-        "high": "127",
-        "low": "0"
-      },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
-    },
-    "BATT_I2C_BUS": {
-      "Description": "Battery monitor I2C bus number",
-      "DisplayName": "Battery monitor I2C bus number",
-      "Range": {
-        "high": "3",
-        "low": "0"
-      },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "path": "AP_BattMonitor_INA2xx"
-    },
-    "BATT_LOW_MAH": {
-      "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.",
-      "DisplayName": "Low battery capacity",
-      "Increment": "50",
-      "Units": "mAh",
-      "User": "Standard"
-    },
-    "BATT_LOW_TIMER": {
-      "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.",
-      "DisplayName": "Low voltage timeout",
-      "Increment": "1",
-      "Range": {
-        "high": "120",
-        "low": "0"
-      },
-      "Units": "s",
-      "User": "Advanced"
-    },
-    "BATT_LOW_VOLT": {
-      "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.",
-      "DisplayName": "Low battery voltage",
-      "Increment": "0.1",
-      "Units": "V",
-      "User": "Standard"
-    },
-    "BATT_MAX_AMPS": {
-      "Description": "This controls the maximum current the INS2XX sensor will work with.",
-      "DisplayName": "Battery monitor max current",
-      "Range": {
-        "high": "400",
-        "low": "1"
-      },
-      "Units": "A",
-      "User": "Advanced"
-    },
-    "BATT_MAX_VOLT": {
-      "Description": "Maximum voltage of battery. Provides scaling of current versus voltage",
-      "DisplayName": "Maximum Battery Voltage",
-      "Range": {
-        "high": "100",
-        "low": "7"
-      },
-      "User": "Advanced"
-    },
-    "BATT_MONITOR": {
-      "Description": "Controls enabling monitoring of the battery's voltage and current",
-      "DisplayName": "Battery monitoring",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "10": "Sum Of Selected Monitors",
-        "11": "FuelFlow",
-        "12": "FuelLevelPWM",
-        "13": "SMBUS-SUI3",
-        "14": "SMBUS-SUI6",
-        "15": "NeoDesign",
-        "16": "SMBus-Maxell",
-        "17": "Generator-Elec",
-        "18": "Generator-Fuel",
-        "19": "Rotoye",
-        "20": "MPPT",
-        "21": "INA2XX",
-        "22": "LTC2946",
-        "23": "Torqeedo",
-        "24": "FuelLevelAnalog",
-        "25": "Synthetic Current and Analog Voltage",
-        "26": "INA239_SPI",
-        "27": "EFI",
-        "28": "AD7091R5",
-        "29": "Scripting",
-        "3": "Analog Voltage Only",
-        "4": "Analog Voltage and Current",
-        "5": "Solo",
-        "6": "Bebop",
-        "7": "SMBus-Generic",
-        "8": "DroneCAN-BatteryInfo",
-        "9": "ESC"
-      }
-    },
-    "BATT_OPTIONS": {
-      "Bitmask": {
-        "0": "Ignore DroneCAN SoC",
-        "1": "MPPT reports input voltage and current",
-        "2": "MPPT Powered off when disarmed",
-        "3": "MPPT Powered on when armed",
-        "4": "MPPT Powered off at boot",
-        "5": "MPPT Powered on at boot",
-        "6": "Send resistance compensated voltage to GCS",
-        "7": "Allow DroneCAN InfoAux to be from a different CAN node"
-      },
-      "Description": "This sets options to change the behaviour of the battery monitor",
-      "DisplayName": "Battery monitor options",
-      "User": "Advanced"
-    },
-    "BATT_SERIAL_NUM": {
-      "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.",
-      "DisplayName": "Battery serial number",
-      "User": "Advanced"
-    },
-    "BATT_SHUNT": {
-      "Description": "This sets the shunt resistor used in the device",
-      "DisplayName": "Battery monitor shunt resistor",
-      "Range": {
-        "high": "0.01",
-        "low": "0.0001"
-      },
-      "Units": "Ohm",
-      "User": "Advanced"
-    },
-    "BATT_SUM_MASK": {
-      "Bitmask": {
-        "0": "monitor 1",
-        "1": "monitor 2",
-        "2": "monitor 3",
-        "3": "monitor 4",
-        "4": "monitor 5",
-        "5": "monitor 6",
-        "6": "monitor 7",
-        "7": "monitor 8",
-        "8": "monitor 9"
-      },
-      "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.",
-      "DisplayName": "Battery Sum mask",
-      "User": "Standard"
-    },
-    "BATT_VLT_OFFSET": {
-      "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.",
-      "DisplayName": "Voltage offset",
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BATT_VOLT_MULT": {
-      "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 with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.",
-      "DisplayName": "Voltage Multiplier",
-      "User": "Advanced"
-    },
-    "BATT_VOLT_PIN": {
-      "Description": "Sets the analog input pin that should be used for voltage monitoring.",
-      "DisplayName": "Battery Voltage sensing pin",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "100": "PX4-v1",
-        "13": "Pixhawk2_PM2/CubeOrange_PM2",
-        "14": "CubeOrange",
-        "16": "Durandal",
-        "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1",
-        "5": "Navigator"
-      }
-    }
-  },
-  "BRD_": {
-    "BRD_ALT_CONFIG": {
-      "Description": "Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.",
-      "DisplayName": "Alternative HW config",
-      "Increment": "1",
-      "Range": {
-        "high": "10",
-        "low": "0"
-      },
-      "RebootRequired": "True",
-      "User": "Advanced"
-    },
-    "BRD_BOOT_DELAY": {
-      "Description": "This adds a delay in milliseconds to boot to ensure peripherals initialise fully",
-      "DisplayName": "Boot delay",
-      "Range": {
-        "high": "10000",
-        "low": "0"
-      },
-      "Units": "ms",
-      "User": "Advanced"
-    },
-    "BRD_HEAT_I": {
-      "Description": "Board Heater integrator gain",
-      "DisplayName": "Board Heater I gain",
-      "Increment": "0.1",
-      "Range": {
-        "high": "1",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_HEAT_IMAX": {
-      "Description": "Board Heater integrator maximum",
-      "DisplayName": "Board Heater IMAX",
-      "Increment": "1",
-      "Range": {
-        "high": "100",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_HEAT_LOWMGN": {
-      "Description": "Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check",
-      "DisplayName": "Board heater temp lower margin",
-      "Range": {
-        "high": "20",
-        "low": "0"
-      },
-      "Units": "degC",
-      "User": "Advanced"
-    },
-    "BRD_HEAT_P": {
-      "Description": "Board Heater P gain",
-      "DisplayName": "Board Heater P gain",
-      "Increment": "1",
-      "Range": {
-        "high": "500",
-        "low": "1"
-      },
-      "User": "Advanced"
-    },
-    "BRD_HEAT_TARG": {
-      "Description": "Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.",
-      "DisplayName": "Board heater temperature target",
-      "Range": {
-        "high": "80",
-        "low": "-1"
-      },
-      "Units": "degC",
-      "User": "Advanced"
-    },
-    "BRD_IO_DSHOT": {
-      "Description": "This loads the DShot firmware on the IO co-processor",
-      "DisplayName": "Load DShot FW on IO",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "StandardFW",
-        "1": "DshotFW"
-      }
-    },
-    "BRD_IO_ENABLE": {
-      "Description": "This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup",
-      "DisplayName": "Enable IO co-processor",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled",
-        "2": "EnableNoFWUpdate"
-      }
-    },
-    "BRD_OPTIONS": {
-      "Bitmask": {
-        "0": "Enable hardware watchdog",
-        "1": "Disable MAVftp",
-        "2": "Enable set of internal parameters",
-        "3": "Enable Debug Pins",
-        "4": "Unlock flash on reboot",
-        "5": "Write protect firmware flash on reboot",
-        "6": "Write protect bootloader flash on reboot",
-        "7": "Skip board validation",
-        "8": "Disable board arming gpio output change on arm/disarm"
-      },
-      "Description": "Board specific option flags",
-      "DisplayName": "Board options",
-      "User": "Advanced"
-    },
-    "BRD_PWM_VOLT_SEL": {
-      "Description": "This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.",
-      "DisplayName": "Set PWM Out Voltage",
-      "User": "Advanced",
-      "Values": {
-        "0": "3.3V",
-        "1": "5V"
-      }
-    },
-    "BRD_SAFETYOPTION": {
-      "Bitmask": {
-        "0": "ActiveForSafetyDisable",
-        "1": "ActiveForSafetyEnable",
-        "2": "ActiveWhenArmed",
-        "3": "Force safety on when the aircraft disarms"
-      },
-      "Description": "This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed",
-      "DisplayName": "Options for safety button behavior",
-      "User": "Standard"
-    },
-    "BRD_SAFETY_DEFLT": {
-      "Description": "This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.",
-      "DisplayName": "Sets default state of the safety switch",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "BRD_SAFETY_MASK": {
-      "Bitmask": {
-        "0": "Output1",
-        "1": "Output2",
-        "10": "Output11",
-        "11": "Output12",
-        "12": "Output13",
-        "13": "Output14",
-        "2": "Output3",
-        "3": "Output4",
-        "4": "Output5",
-        "5": "Output6",
-        "6": "Output7",
-        "7": "Output8",
-        "8": "Output9",
-        "9": "Output10"
-      },
-      "Description": "A bitmask which controls what outputs can move while the safety switch has not been pressed",
-      "DisplayName": "Outputs which ignore the safety switch state",
-      "RebootRequired": "True",
-      "User": "Advanced"
-    },
-    "BRD_SBUS_OUT": {
-      "Description": "This sets the SBUS output frame rate in Hz",
-      "DisplayName": " SBUS output rate",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "50Hz",
-        "2": "75Hz",
-        "3": "100Hz",
-        "4": "150Hz",
-        "5": "200Hz",
-        "6": "250Hz",
-        "7": "300Hz"
-      }
-    },
-    "BRD_SD_MISSION": {
-      "Description": "This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.",
-      "DisplayName": " SDCard Mission size",
-      "Range": {
-        "high": "64",
-        "low": "0"
-      },
-      "RebootRequired": "True",
-      "User": "Advanced"
-    },
-    "BRD_SD_SLOWDOWN": {
-      "Description": "This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.",
-      "DisplayName": "microSD slowdown",
-      "Increment": "1",
-      "Range": {
-        "high": "32",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_SER1_RTSCTS": {
-      "Description": "Enable flow control on serial 1 (telemetry 1). 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.",
-      "DisplayName": "Serial 1 flow control",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled",
-        "2": "Auto"
-      }
-    },
-    "BRD_SER2_RTSCTS": {
-      "Description": "Enable flow control on serial 2 (telemetry 2). 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.",
-      "DisplayName": "Serial 2 flow control",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled",
-        "2": "Auto"
-      }
-    },
-    "BRD_SER3_RTSCTS": {
-      "Description": "Enable flow control on serial 3. 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.",
-      "DisplayName": "Serial 3 flow control",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled",
-        "2": "Auto"
-      }
-    },
-    "BRD_SER4_RTSCTS": {
-      "Description": "Enable flow control on serial 4. 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.",
-      "DisplayName": "Serial 4 flow control",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled",
-        "2": "Auto"
-      }
-    },
-    "BRD_SER5_RTSCTS": {
-      "Description": "Enable flow control on serial 5. 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.",
-      "DisplayName": "Serial 5 flow control",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled",
-        "2": "Auto"
-      }
-    },
-    "BRD_SERIAL_NUM": {
-      "Description": "User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot",
-      "DisplayName": "User-defined serial number",
-      "Range": {
-        "high": "8388607",
-        "low": "-8388608"
-      },
-      "User": "Standard"
-    },
-    "BRD_TYPE": {
-      "Description": "This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)",
-      "DisplayName": "Board type",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "AUTO",
-        "1": "PX4V1",
-        "100": "PX4 OLDDRIVERS",
-        "13": "Intel Aero FC",
-        "14": "Pixhawk Pro",
-        "2": "Pixhawk",
-        "20": "AUAV2.1",
-        "21": "PCNC1",
-        "22": "MINDPXV2",
-        "23": "SP01",
-        "24": "CUAVv5/FMUV5",
-        "3": "Cube/Pixhawk2",
-        "30": "VRX BRAIN51",
-        "32": "VRX BRAIN52",
-        "33": "VRX BRAIN52E",
-        "34": "VRX UBRAIN51",
-        "35": "VRX UBRAIN52",
-        "36": "VRX CORE10",
-        "38": "VRX BRAIN54",
-        "39": "PX4 FMUV6",
-        "4": "Pixracer",
-        "5": "PixhawkMini",
-        "6": "Pixhawk2Slim"
-      }
-    },
-    "BRD_VBUS_MIN": {
-      "Description": "Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.",
-      "DisplayName": "Autopilot board voltage requirement",
-      "Increment": "0.1",
-      "Range": {
-        "high": "5.5",
-        "low": "4.0"
-      },
-      "Units": "V",
-      "User": "Advanced"
-    },
-    "BRD_VSERVO_MIN": {
-      "Description": "Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.",
-      "DisplayName": "Servo voltage requirement",
-      "Increment": "0.1",
-      "Range": {
-        "high": "12.0",
-        "low": "3.3"
-      },
-      "Units": "V",
-      "User": "Advanced"
-    }
-  },
-  "BRD_RADIO": {
-    "BRD_RADIO_ABLVL": {
-      "Description": "This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially",
-      "DisplayName": "Auto-bind level",
-      "Range": {
-        "high": "31",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_ABTIME": {
-      "Description": "When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.",
-      "DisplayName": "Auto-bind time",
-      "Range": {
-        "high": "120",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_BZOFS": {
-      "Description": "Set transmitter buzzer note adjustment (adjust frequency up)",
-      "DisplayName": "Transmitter buzzer adjustment",
-      "Range": {
-        "high": "40",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_DEBUG": {
-      "Description": "radio debug level",
-      "DisplayName": "debug level",
-      "Range": {
-        "high": "4",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_DISCRC": {
-      "Description": "disable receive CRC (for debug)",
-      "DisplayName": "disable receive CRC",
-      "User": "Advanced",
-      "Values": {
-        "0": "NotDisabled",
-        "1": "Disabled"
-      }
-    },
-    "BRD_RADIO_FCCTST": {
-      "Description": "If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled",
-      "DisplayName": "Put radio into FCC test mode",
-      "User": "Advanced",
+  "BTN0_": {
+    "BTN0_FUNCTION": {
+      "Description": "Set to 0 to disable or choose a function",
+      "DisplayName": "Function for button",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
-        "1": "MinChannel",
-        "2": "MidChannel",
-        "3": "MaxChannel",
-        "4": "MinChannelCW",
-        "5": "MidChannelCW",
-        "6": "MaxChannelCW"
-      }
-    },
-    "BRD_RADIO_PPSCH": {
-      "Description": "Channel to show received packet-per-second rate, or zero for disabled",
-      "DisplayName": "Packet rate channel",
-      "Range": {
-        "high": "16",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_PROT": {
-      "Description": "Select air protocol",
-      "DisplayName": "protocol",
-      "User": "Advanced",
-      "Values": {
-        "0": "Auto",
-        "1": "DSM2",
-        "2": "DSMX"
+        "1": "shift",
+        "10": "mode_circle",
+        "101": "relay_4_on",
+        "102": "relay_4_off",
+        "103": "relay_4_toggle",
+        "104": "relay_1_momentary",
+        "105": "relay_2_momentary",
+        "106": "relay_3_momentary",
+        "107": "relay_4_momentary",
+        "108": "script_1",
+        "109": "script_2",
+        "11": "mode_guided",
+        "110": "script_3",
+        "111": "script_4",
+        "12": "mode_acro",
+        "13": "mode_surftrak",
+        "2": "arm_toggle",
+        "21": "mount_center",
+        "22": "mount_tilt_up",
+        "23": "mount_tilt_down",
+        "24": "camera_trigger",
+        "25": "camera_source_toggle",
+        "26": "mount_pan_right",
+        "27": "mount_pan_left",
+        "3": "arm",
+        "31": "lights1_cycle",
+        "32": "lights1_brighter",
+        "33": "lights1_dimmer",
+        "34": "lights2_cycle",
+        "35": "lights2_brighter",
+        "36": "lights2_dimmer",
+        "4": "disarm",
+        "41": "gain_toggle",
+        "42": "gain_inc",
+        "43": "gain_dec",
+        "44": "trim_roll_inc",
+        "45": "trim_roll_dec",
+        "46": "trim_pitch_inc",
+        "47": "trim_pitch_dec",
+        "48": "input_hold_set",
+        "49": "roll_pitch_toggle",
+        "5": "mode_manual",
+        "51": "relay_1_on",
+        "52": "relay_1_off",
+        "53": "relay_1_toggle",
+        "54": "relay_2_on",
+        "55": "relay_2_off",
+        "56": "relay_2_toggle",
+        "57": "relay_3_on",
+        "58": "relay_3_off",
+        "59": "relay_3_toggle",
+        "6": "mode_stabilize",
+        "61": "servo_1_inc",
+        "62": "servo_1_dec",
+        "63": "servo_1_min",
+        "64": "servo_1_max",
+        "65": "servo_1_center",
+        "66": "servo_2_inc",
+        "67": "servo_2_dec",
+        "68": "servo_2_min",
+        "69": "servo_2_max",
+        "7": "mode_depth_hold",
+        "70": "servo_2_center",
+        "71": "servo_3_inc",
+        "72": "servo_3_dec",
+        "73": "servo_3_min",
+        "74": "servo_3_max",
+        "75": "servo_3_center",
+        "76": "servo_1_min_momentary",
+        "77": "servo_1_max_momentary",
+        "78": "servo_1_min_toggle",
+        "79": "servo_1_max_toggle",
+        "8": "mode_poshold",
+        "80": "servo_2_min_momentary",
+        "81": "servo_2_max_momentary",
+        "82": "servo_2_min_toggle",
+        "83": "servo_2_max_toggle",
+        "84": "servo_3_min_momentary",
+        "85": "servo_3_max_momentary",
+        "86": "servo_3_min_toggle",
+        "87": "servo_3_max_toggle",
+        "9": "mode_auto",
+        "91": "custom_1",
+        "92": "custom_2",
+        "93": "custom_3",
+        "94": "custom_4",
+        "95": "custom_5",
+        "96": "custom_6"
       }
     },
-    "BRD_RADIO_SIGCH": {
-      "Description": "Channel to show receive RSSI signal strength, or zero for disabled",
-      "DisplayName": "RSSI signal strength",
-      "Range": {
-        "high": "16",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_STKMD": {
-      "Description": "This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.",
-      "DisplayName": "Stick input mode",
-      "User": "Advanced",
+    "BTN0_SFUNCTION": {
+      "Description": "Set to 0 to disable or choose a function",
+      "DisplayName": "Function for button when the shift mode is toggled on",
+      "User": "Standard",
       "Values": {
-        "1": "Mode1",
-        "2": "Mode2"
+        "0": "Disabled",
+        "1": "shift",
+        "10": "mode_circle",
+        "101": "relay_4_on",
+        "102": "relay_4_off",
+        "103": "relay_4_toggle",
+        "104": "relay_1_momentary",
+        "105": "relay_2_momentary",
+        "106": "relay_3_momentary",
+        "107": "relay_4_momentary",
+        "108": "script_1",
+        "109": "script_2",
+        "11": "mode_guided",
+        "110": "script_3",
+        "111": "script_4",
+        "12": "mode_acro",
+        "13": "mode_surftrak",
+        "2": "arm_toggle",
+        "21": "mount_center",
+        "22": "mount_tilt_up",
+        "23": "mount_tilt_down",
+        "24": "camera_trigger",
+        "25": "camera_source_toggle",
+        "26": "mount_pan_right",
+        "27": "mount_pan_left",
+        "3": "arm",
+        "31": "lights1_cycle",
+        "32": "lights1_brighter",
+        "33": "lights1_dimmer",
+        "34": "lights2_cycle",
+        "35": "lights2_brighter",
+        "36": "lights2_dimmer",
+        "4": "disarm",
+        "41": "gain_toggle",
+        "42": "gain_inc",
+        "43": "gain_dec",
+        "44": "trim_roll_inc",
+        "45": "trim_roll_dec",
+        "46": "trim_pitch_inc",
+        "47": "trim_pitch_dec",
+        "48": "input_hold_set",
+        "49": "roll_pitch_toggle",
+        "5": "mode_manual",
+        "51": "relay_1_on",
+        "52": "relay_1_off",
+        "53": "relay_1_toggle",
+        "54": "relay_2_on",
+        "55": "relay_2_off",
+        "56": "relay_2_toggle",
+        "57": "relay_3_on",
+        "58": "relay_3_off",
+        "59": "relay_3_toggle",
+        "6": "mode_stabilize",
+        "61": "servo_1_inc",
+        "62": "servo_1_dec",
+        "63": "servo_1_min",
+        "64": "servo_1_max",
+        "65": "servo_1_center",
+        "66": "servo_2_inc",
+        "67": "servo_2_dec",
+        "68": "servo_2_min",
+        "69": "servo_2_max",
+        "7": "mode_depth_hold",
+        "70": "servo_2_center",
+        "71": "servo_3_inc",
+        "72": "servo_3_dec",
+        "73": "servo_3_min",
+        "74": "servo_3_max",
+        "75": "servo_3_center",
+        "76": "servo_1_min_momentary",
+        "77": "servo_1_max_momentary",
+        "78": "servo_1_min_toggle",
+        "79": "servo_1_max_toggle",
+        "8": "mode_poshold",
+        "80": "servo_2_min_momentary",
+        "81": "servo_2_max_momentary",
+        "82": "servo_2_min_toggle",
+        "83": "servo_2_max_toggle",
+        "84": "servo_3_min_momentary",
+        "85": "servo_3_max_momentary",
+        "86": "servo_3_min_toggle",
+        "87": "servo_3_max_toggle",
+        "9": "mode_auto",
+        "91": "custom_1",
+        "92": "custom_2",
+        "93": "custom_3",
+        "94": "custom_4",
+        "95": "custom_5",
+        "96": "custom_6"
       }
-    },
-    "BRD_RADIO_TELEM": {
-      "Description": "If this is non-zero then telemetry packets will be sent over DSM",
-      "DisplayName": "Enable telemetry",
-      "User": "Advanced",
+    }
+  },
+  "BTN10_": {
+    "BTN10_FUNCTION": {
+      "Description": "Set to 0 to disable or choose a function",
+      "DisplayName": "Function for button",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "1": "shift",
+        "10": "mode_circle",
+        "101": "relay_4_on",
+        "102": "relay_4_off",
+        "103": "relay_4_toggle",
+        "104": "relay_1_momentary",
+        "105": "relay_2_momentary",
+        "106": "relay_3_momentary",
+        "107": "relay_4_momentary",
+        "108": "script_1",
+        "109": "script_2",
+        "11": "mode_guided",
+        "110": "script_3",
+        "111": "script_4",
+        "12": "mode_acro",
+        "13": "mode_surftrak",
+        "2": "arm_toggle",
+        "21": "mount_center",
+        "22": "mount_tilt_up",
+        "23": "mount_tilt_down",
+        "24": "camera_trigger",
+        "25": "camera_source_toggle",
+        "26": "mount_pan_right",
+        "27": "mount_pan_left",
+        "3": "arm",
+        "31": "lights1_cycle",
+        "32": "lights1_brighter",
+        "33": "lights1_dimmer",
+        "34": "lights2_cycle",
+        "35": "lights2_brighter",
+        "36": "lights2_dimmer",
+        "4": "disarm",
+        "41": "gain_toggle",
+        "42": "gain_inc",
+        "43": "gain_dec",
+        "44": "trim_roll_inc",
+        "45": "trim_roll_dec",
+        "46": "trim_pitch_inc",
+        "47": "trim_pitch_dec",
+        "48": "input_hold_set",
+        "49": "roll_pitch_toggle",
+        "5": "mode_manual",
+        "51": "relay_1_on",
+        "52": "relay_1_off",
+        "53": "relay_1_toggle",
+        "54": "relay_2_on",
+        "55": "relay_2_off",
+        "56": "relay_2_toggle",
+        "57": "relay_3_on",
+        "58": "relay_3_off",
+        "59": "relay_3_toggle",
+        "6": "mode_stabilize",
+        "61": "servo_1_inc",
+        "62": "servo_1_dec",
+        "63": "servo_1_min",
+        "64": "servo_1_max",
+        "65": "servo_1_center",
+        "66": "servo_2_inc",
+        "67": "servo_2_dec",
+        "68": "servo_2_min",
+        "69": "servo_2_max",
+        "7": "mode_depth_hold",
+        "70": "servo_2_center",
+        "71": "servo_3_inc",
+        "72": "servo_3_dec",
+        "73": "servo_3_min",
+        "74": "servo_3_max",
+        "75": "servo_3_center",
+        "76": "servo_1_min_momentary",
+        "77": "servo_1_max_momentary",
+        "78": "servo_1_min_toggle",
+        "79": "servo_1_max_toggle",
+        "8": "mode_poshold",
+        "80": "servo_2_min_momentary",
+        "81": "servo_2_max_momentary",
+        "82": "servo_2_min_toggle",
+        "83": "servo_2_max_toggle",
+        "84": "servo_3_min_momentary",
+        "85": "servo_3_max_momentary",
+        "86": "servo_3_min_toggle",
+        "87": "servo_3_max_toggle",
+        "9": "mode_auto",
+        "91": "custom_1",
+        "92": "custom_2",
+        "93": "custom_3",
+        "94": "custom_4",
+        "95": "custom_5",
+        "96": "custom_6"
       }
     },
-    "BRD_RADIO_TESTCH": {
-      "Description": "This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.",
-      "DisplayName": "Set radio to factory test channel",
-      "User": "Advanced",
+    "BTN10_SFUNCTION": {
+      "Description": "Set to 0 to disable or choose a function",
+      "DisplayName": "Function for button when the shift mode is toggled on",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
-        "1": "TestChan1",
-        "2": "TestChan2",
-        "3": "TestChan3",
-        "4": "TestChan4",
-        "5": "TestChan5",
-        "6": "TestChan6",
-        "7": "TestChan7",
-        "8": "TestChan8"
-      }
-    },
-    "BRD_RADIO_TPPSCH": {
-      "Description": "Channel to show telemetry packets-per-second value, as received at TX",
-      "DisplayName": "Telemetry PPS channel",
-      "Range": {
-        "high": "16",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_TSIGCH": {
-      "Description": "Channel to show telemetry RSSI value as received by TX",
-      "DisplayName": "RSSI value channel for telemetry data on transmitter",
-      "Range": {
-        "high": "16",
-        "low": "0"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_TXMAX": {
-      "Description": "Set transmitter maximum transmit power (from 1 to 8)",
-      "DisplayName": "Transmitter transmit power",
-      "Range": {
-        "high": "8",
-        "low": "1"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_TXPOW": {
-      "Description": "Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX",
-      "DisplayName": "Telemetry Transmit power",
-      "Range": {
-        "high": "8",
-        "low": "1"
-      },
-      "User": "Advanced"
-    },
-    "BRD_RADIO_TYPE": {
-      "Description": "This enables support for direct attached radio receivers",
-      "DisplayName": "Set type of direct attached radio",
-      "Values": {
-        "0": "None",
-        "1": "CYRF6936",
-        "2": "CC2500",
-        "3": "BK2425"
+        "1": "shift",
+        "10": "mode_circle",
+        "101": "relay_4_on",
+        "102": "relay_4_off",
+        "103": "relay_4_toggle",
+        "104": "relay_1_momentary",
+        "105": "relay_2_momentary",
+        "106": "relay_3_momentary",
+        "107": "relay_4_momentary",
+        "108": "script_1",
+        "109": "script_2",
+        "11": "mode_guided",
+        "110": "script_3",
+        "111": "script_4",
+        "12": "mode_acro",
+        "13": "mode_surftrak",
+        "2": "arm_toggle",
+        "21": "mount_center",
+        "22": "mount_tilt_up",
+        "23": "mount_tilt_down",
+        "24": "camera_trigger",
+        "25": "camera_source_toggle",
+        "26": "mount_pan_right",
+        "27": "mount_pan_left",
+        "3": "arm",
+        "31": "lights1_cycle",
+        "32": "lights1_brighter",
+        "33": "lights1_dimmer",
+        "34": "lights2_cycle",
+        "35": "lights2_brighter",
+        "36": "lights2_dimmer",
+        "4": "disarm",
+        "41": "gain_toggle",
+        "42": "gain_inc",
+        "43": "gain_dec",
+        "44": "trim_roll_inc",
+        "45": "trim_roll_dec",
+        "46": "trim_pitch_inc",
+        "47": "trim_pitch_dec",
+        "48": "input_hold_set",
+        "49": "roll_pitch_toggle",
+        "5": "mode_manual",
+        "51": "relay_1_on",
+        "52": "relay_1_off",
+        "53": "relay_1_toggle",
+        "54": "relay_2_on",
+        "55": "relay_2_off",
+        "56": "relay_2_toggle",
+        "57": "relay_3_on",
+        "58": "relay_3_off",
+        "59": "relay_3_toggle",
+        "6": "mode_stabilize",
+        "61": "servo_1_inc",
+        "62": "servo_1_dec",
+        "63": "servo_1_min",
+        "64": "servo_1_max",
+        "65": "servo_1_center",
+        "66": "servo_2_inc",
+        "67": "servo_2_dec",
+        "68": "servo_2_min",
+        "69": "servo_2_max",
+        "7": "mode_depth_hold",
+        "70": "servo_2_center",
+        "71": "servo_3_inc",
+        "72": "servo_3_dec",
+        "73": "servo_3_min",
+        "74": "servo_3_max",
+        "75": "servo_3_center",
+        "76": "servo_1_min_momentary",
+        "77": "servo_1_max_momentary",
+        "78": "servo_1_min_toggle",
+        "79": "servo_1_max_toggle",
+        "8": "mode_poshold",
+        "80": "servo_2_min_momentary",
+        "81": "servo_2_max_momentary",
+        "82": "servo_2_min_toggle",
+        "83": "servo_2_max_toggle",
+        "84": "servo_3_min_momentary",
+        "85": "servo_3_max_momentary",
+        "86": "servo_3_min_toggle",
+        "87": "servo_3_max_toggle",
+        "9": "mode_auto",
+        "91": "custom_1",
+        "92": "custom_2",
+        "93": "custom_3",
+        "94": "custom_4",
+        "95": "custom_5",
+        "96": "custom_6"
       }
     }
   },
-  "BRD_RTC": {
-    "BRD_RTC_TYPES": {
-      "Bitmask": {
-        "0": "GPS",
-        "1": "MAVLINK_SYSTEM_TIME",
-        "2": "HW"
-      },
-      "Description": "Specifies which sources of UTC time will be accepted",
-      "DisplayName": "Allowed sources of RTC time",
-      "User": "Advanced"
-    },
-    "BRD_RTC_TZ_MIN": {
-      "Description": "Adds offset in +- minutes from UTC to calculate local time",
-      "DisplayName": "Timezone offset from UTC",
-      "Range": {
-        "high": "+840",
-        "low": "-720"
-      },
-      "User": "Advanced"
-    }
-  },
-  "BTN0_": {
-    "BTN0_FUNCTION": {
+  "BTN11_": {
+    "BTN11_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -9435,7 +8441,7 @@
         "96": "custom_6"
       }
     },
-    "BTN0_SFUNCTION": {
+    "BTN11_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -9532,8 +8538,8 @@
       }
     }
   },
-  "BTN10_": {
-    "BTN10_FUNCTION": {
+  "BTN12_": {
+    "BTN12_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -9629,7 +8635,7 @@
         "96": "custom_6"
       }
     },
-    "BTN10_SFUNCTION": {
+    "BTN12_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -9726,8 +8732,8 @@
       }
     }
   },
-  "BTN11_": {
-    "BTN11_FUNCTION": {
+  "BTN13_": {
+    "BTN13_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -9823,7 +8829,7 @@
         "96": "custom_6"
       }
     },
-    "BTN11_SFUNCTION": {
+    "BTN13_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -9920,8 +8926,8 @@
       }
     }
   },
-  "BTN12_": {
-    "BTN12_FUNCTION": {
+  "BTN14_": {
+    "BTN14_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -10017,7 +9023,7 @@
         "96": "custom_6"
       }
     },
-    "BTN12_SFUNCTION": {
+    "BTN14_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -10114,8 +9120,8 @@
       }
     }
   },
-  "BTN13_": {
-    "BTN13_FUNCTION": {
+  "BTN15_": {
+    "BTN15_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -10211,7 +9217,7 @@
         "96": "custom_6"
       }
     },
-    "BTN13_SFUNCTION": {
+    "BTN15_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -10308,8 +9314,8 @@
       }
     }
   },
-  "BTN14_": {
-    "BTN14_FUNCTION": {
+  "BTN16_": {
+    "BTN16_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -10405,7 +9411,7 @@
         "96": "custom_6"
       }
     },
-    "BTN14_SFUNCTION": {
+    "BTN16_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -10502,8 +9508,8 @@
       }
     }
   },
-  "BTN15_": {
-    "BTN15_FUNCTION": {
+  "BTN17_": {
+    "BTN17_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -10599,7 +9605,7 @@
         "96": "custom_6"
       }
     },
-    "BTN15_SFUNCTION": {
+    "BTN17_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -10696,8 +9702,8 @@
       }
     }
   },
-  "BTN16_": {
-    "BTN16_FUNCTION": {
+  "BTN18_": {
+    "BTN18_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -10793,7 +9799,7 @@
         "96": "custom_6"
       }
     },
-    "BTN16_SFUNCTION": {
+    "BTN18_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -10890,8 +9896,8 @@
       }
     }
   },
-  "BTN17_": {
-    "BTN17_FUNCTION": {
+  "BTN19_": {
+    "BTN19_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -10987,7 +9993,7 @@
         "96": "custom_6"
       }
     },
-    "BTN17_SFUNCTION": {
+    "BTN19_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -11084,8 +10090,8 @@
       }
     }
   },
-  "BTN18_": {
-    "BTN18_FUNCTION": {
+  "BTN1_": {
+    "BTN1_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -11181,7 +10187,7 @@
         "96": "custom_6"
       }
     },
-    "BTN18_SFUNCTION": {
+    "BTN1_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -11278,8 +10284,8 @@
       }
     }
   },
-  "BTN19_": {
-    "BTN19_FUNCTION": {
+  "BTN20_": {
+    "BTN20_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -11375,7 +10381,7 @@
         "96": "custom_6"
       }
     },
-    "BTN19_SFUNCTION": {
+    "BTN20_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -11472,8 +10478,8 @@
       }
     }
   },
-  "BTN1_": {
-    "BTN1_FUNCTION": {
+  "BTN21_": {
+    "BTN21_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -11569,7 +10575,7 @@
         "96": "custom_6"
       }
     },
-    "BTN1_SFUNCTION": {
+    "BTN21_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -11666,8 +10672,8 @@
       }
     }
   },
-  "BTN20_": {
-    "BTN20_FUNCTION": {
+  "BTN22_": {
+    "BTN22_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -11763,7 +10769,7 @@
         "96": "custom_6"
       }
     },
-    "BTN20_SFUNCTION": {
+    "BTN22_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -11860,8 +10866,8 @@
       }
     }
   },
-  "BTN21_": {
-    "BTN21_FUNCTION": {
+  "BTN23_": {
+    "BTN23_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -11957,7 +10963,7 @@
         "96": "custom_6"
       }
     },
-    "BTN21_SFUNCTION": {
+    "BTN23_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -12054,8 +11060,8 @@
       }
     }
   },
-  "BTN22_": {
-    "BTN22_FUNCTION": {
+  "BTN24_": {
+    "BTN24_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -12151,7 +11157,7 @@
         "96": "custom_6"
       }
     },
-    "BTN22_SFUNCTION": {
+    "BTN24_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -12248,8 +11254,8 @@
       }
     }
   },
-  "BTN23_": {
-    "BTN23_FUNCTION": {
+  "BTN25_": {
+    "BTN25_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -12345,7 +11351,7 @@
         "96": "custom_6"
       }
     },
-    "BTN23_SFUNCTION": {
+    "BTN25_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -12442,8 +11448,8 @@
       }
     }
   },
-  "BTN24_": {
-    "BTN24_FUNCTION": {
+  "BTN26_": {
+    "BTN26_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -12539,7 +11545,7 @@
         "96": "custom_6"
       }
     },
-    "BTN24_SFUNCTION": {
+    "BTN26_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -12636,8 +11642,8 @@
       }
     }
   },
-  "BTN25_": {
-    "BTN25_FUNCTION": {
+  "BTN27_": {
+    "BTN27_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -12733,7 +11739,7 @@
         "96": "custom_6"
       }
     },
-    "BTN25_SFUNCTION": {
+    "BTN27_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -12830,8 +11836,8 @@
       }
     }
   },
-  "BTN26_": {
-    "BTN26_FUNCTION": {
+  "BTN28_": {
+    "BTN28_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -12927,7 +11933,7 @@
         "96": "custom_6"
       }
     },
-    "BTN26_SFUNCTION": {
+    "BTN28_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -13024,8 +12030,8 @@
       }
     }
   },
-  "BTN27_": {
-    "BTN27_FUNCTION": {
+  "BTN29_": {
+    "BTN29_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -13121,7 +12127,7 @@
         "96": "custom_6"
       }
     },
-    "BTN27_SFUNCTION": {
+    "BTN29_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -13218,8 +12224,8 @@
       }
     }
   },
-  "BTN28_": {
-    "BTN28_FUNCTION": {
+  "BTN2_": {
+    "BTN2_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -13315,7 +12321,7 @@
         "96": "custom_6"
       }
     },
-    "BTN28_SFUNCTION": {
+    "BTN2_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -13412,8 +12418,8 @@
       }
     }
   },
-  "BTN29_": {
-    "BTN29_FUNCTION": {
+  "BTN30_": {
+    "BTN30_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -13509,7 +12515,7 @@
         "96": "custom_6"
       }
     },
-    "BTN29_SFUNCTION": {
+    "BTN30_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -13606,8 +12612,8 @@
       }
     }
   },
-  "BTN2_": {
-    "BTN2_FUNCTION": {
+  "BTN31_": {
+    "BTN31_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -13703,7 +12709,7 @@
         "96": "custom_6"
       }
     },
-    "BTN2_SFUNCTION": {
+    "BTN31_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -13800,8 +12806,8 @@
       }
     }
   },
-  "BTN30_": {
-    "BTN30_FUNCTION": {
+  "BTN3_": {
+    "BTN3_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -13897,7 +12903,7 @@
         "96": "custom_6"
       }
     },
-    "BTN30_SFUNCTION": {
+    "BTN3_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -13994,8 +13000,8 @@
       }
     }
   },
-  "BTN31_": {
-    "BTN31_FUNCTION": {
+  "BTN4_": {
+    "BTN4_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -14091,7 +13097,7 @@
         "96": "custom_6"
       }
     },
-    "BTN31_SFUNCTION": {
+    "BTN4_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -14188,8 +13194,8 @@
       }
     }
   },
-  "BTN3_": {
-    "BTN3_FUNCTION": {
+  "BTN5_": {
+    "BTN5_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -14285,7 +13291,7 @@
         "96": "custom_6"
       }
     },
-    "BTN3_SFUNCTION": {
+    "BTN5_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -14382,8 +13388,8 @@
       }
     }
   },
-  "BTN4_": {
-    "BTN4_FUNCTION": {
+  "BTN6_": {
+    "BTN6_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -14479,7 +13485,7 @@
         "96": "custom_6"
       }
     },
-    "BTN4_SFUNCTION": {
+    "BTN6_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -14576,8 +13582,8 @@
       }
     }
   },
-  "BTN5_": {
-    "BTN5_FUNCTION": {
+  "BTN7_": {
+    "BTN7_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -14673,7 +13679,7 @@
         "96": "custom_6"
       }
     },
-    "BTN5_SFUNCTION": {
+    "BTN7_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -14770,8 +13776,8 @@
       }
     }
   },
-  "BTN6_": {
-    "BTN6_FUNCTION": {
+  "BTN8_": {
+    "BTN8_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button",
       "User": "Standard",
@@ -14867,7 +13873,7 @@
         "96": "custom_6"
       }
     },
-    "BTN6_SFUNCTION": {
+    "BTN8_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
       "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
@@ -14964,106 +13970,10 @@
       }
     }
   },
-  "BTN7_": {
-    "BTN7_FUNCTION": {
-      "Description": "Set to 0 to disable or choose a function",
-      "DisplayName": "Function for button",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "shift",
-        "10": "mode_circle",
-        "101": "relay_4_on",
-        "102": "relay_4_off",
-        "103": "relay_4_toggle",
-        "104": "relay_1_momentary",
-        "105": "relay_2_momentary",
-        "106": "relay_3_momentary",
-        "107": "relay_4_momentary",
-        "108": "script_1",
-        "109": "script_2",
-        "11": "mode_guided",
-        "110": "script_3",
-        "111": "script_4",
-        "12": "mode_acro",
-        "13": "mode_surftrak",
-        "2": "arm_toggle",
-        "21": "mount_center",
-        "22": "mount_tilt_up",
-        "23": "mount_tilt_down",
-        "24": "camera_trigger",
-        "25": "camera_source_toggle",
-        "26": "mount_pan_right",
-        "27": "mount_pan_left",
-        "3": "arm",
-        "31": "lights1_cycle",
-        "32": "lights1_brighter",
-        "33": "lights1_dimmer",
-        "34": "lights2_cycle",
-        "35": "lights2_brighter",
-        "36": "lights2_dimmer",
-        "4": "disarm",
-        "41": "gain_toggle",
-        "42": "gain_inc",
-        "43": "gain_dec",
-        "44": "trim_roll_inc",
-        "45": "trim_roll_dec",
-        "46": "trim_pitch_inc",
-        "47": "trim_pitch_dec",
-        "48": "input_hold_set",
-        "49": "roll_pitch_toggle",
-        "5": "mode_manual",
-        "51": "relay_1_on",
-        "52": "relay_1_off",
-        "53": "relay_1_toggle",
-        "54": "relay_2_on",
-        "55": "relay_2_off",
-        "56": "relay_2_toggle",
-        "57": "relay_3_on",
-        "58": "relay_3_off",
-        "59": "relay_3_toggle",
-        "6": "mode_stabilize",
-        "61": "servo_1_inc",
-        "62": "servo_1_dec",
-        "63": "servo_1_min",
-        "64": "servo_1_max",
-        "65": "servo_1_center",
-        "66": "servo_2_inc",
-        "67": "servo_2_dec",
-        "68": "servo_2_min",
-        "69": "servo_2_max",
-        "7": "mode_depth_hold",
-        "70": "servo_2_center",
-        "71": "servo_3_inc",
-        "72": "servo_3_dec",
-        "73": "servo_3_min",
-        "74": "servo_3_max",
-        "75": "servo_3_center",
-        "76": "servo_1_min_momentary",
-        "77": "servo_1_max_momentary",
-        "78": "servo_1_min_toggle",
-        "79": "servo_1_max_toggle",
-        "8": "mode_poshold",
-        "80": "servo_2_min_momentary",
-        "81": "servo_2_max_momentary",
-        "82": "servo_2_min_toggle",
-        "83": "servo_2_max_toggle",
-        "84": "servo_3_min_momentary",
-        "85": "servo_3_max_momentary",
-        "86": "servo_3_min_toggle",
-        "87": "servo_3_max_toggle",
-        "9": "mode_auto",
-        "91": "custom_1",
-        "92": "custom_2",
-        "93": "custom_3",
-        "94": "custom_4",
-        "95": "custom_5",
-        "96": "custom_6"
-      }
-    },
-    "BTN7_SFUNCTION": {
+  "BTN9_": {
+    "BTN9_FUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
-      "DisplayName": "Function for button when the shift mode is toggled on",
+      "DisplayName": "Function for button",
       "User": "Standard",
       "Values": {
         "0": "Disabled",
@@ -15156,12 +14066,10 @@
         "95": "custom_5",
         "96": "custom_6"
       }
-    }
-  },
-  "BTN8_": {
-    "BTN8_FUNCTION": {
+    },
+    "BTN9_SFUNCTION": {
       "Description": "Set to 0 to disable or choose a function",
-      "DisplayName": "Function for button",
+      "DisplayName": "Function for button when the shift mode is toggled on",
       "User": "Standard",
       "Values": {
         "0": "Disabled",
@@ -15254,661 +14162,1032 @@
         "95": "custom_5",
         "96": "custom_6"
       }
+    }
+  },
+  "CAM": {
+    "CAM_AUTO_ONLY": {
+      "Description": "When enabled, trigging by distance is done in AUTO mode only.",
+      "DisplayName": "Distance-trigging in AUTO mode only",
+      "User": "Standard",
+      "Values": {
+        "0": "Always",
+        "1": "Only when in AUTO"
+      }
+    },
+    "CAM_MAX_ROLL": {
+      "Description": "Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).",
+      "DisplayName": "Maximum photo roll angle.",
+      "Range": {
+        "high": "180",
+        "low": "0"
+      },
+      "Units": "deg",
+      "User": "Standard"
+    }
+  },
+  "CAM1": {
+    "CAM1_DURATION": {
+      "Description": "Duration in seconds that the camera shutter is held open",
+      "DisplayName": "Camera shutter duration held open",
+      "Range": {
+        "high": "5",
+        "low": "0"
+      },
+      "Units": "s",
+      "User": "Standard"
+    },
+    "CAM1_FEEDBAK_PIN": {
+      "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection.  Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.",
+      "DisplayName": "Camera feedback pin",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "50": "AUX1",
+        "51": "AUX2",
+        "52": "AUX3",
+        "53": "AUX4",
+        "54": "AUX5",
+        "55": "AUX6"
+      }
+    },
+    "CAM1_FEEDBAK_POL": {
+      "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low",
+      "DisplayName": "Camera feedback pin polarity",
+      "User": "Standard",
+      "Values": {
+        "0": "TriggerLow",
+        "1": "TriggerHigh"
+      }
+    },
+    "CAM1_HFOV": {
+      "Description": "Camera horizontal field of view. 0 if unknown",
+      "DisplayName": "Camera horizontal field of view",
+      "Range": {
+        "high": "360",
+        "low": "0"
+      },
+      "Units": "deg",
+      "User": "Standard"
+    },
+    "CAM1_INTRVAL_MIN": {
+      "Description": "Postpone shooting if previous picture was taken less than this many seconds ago",
+      "DisplayName": "Camera minimum time interval between photos",
+      "Range": {
+        "high": "10",
+        "low": "0"
+      },
+      "Units": "s",
+      "User": "Standard"
+    },
+    "CAM1_MNT_INST": {
+      "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1",
+      "DisplayName": "Camera Mount instance",
+      "User": "Standard"
+    },
+    "CAM1_OPTIONS": {
+      "Bitmask": {
+        "0": "Recording Starts at arming and stops at disarming"
+      },
+      "Description": "Camera options bitmask",
+      "DisplayName": "Camera options",
+      "User": "Standard"
+    },
+    "CAM1_RELAY_ON": {
+      "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera",
+      "DisplayName": "Camera relay ON value",
+      "User": "Standard",
+      "Values": {
+        "0": "Low",
+        "1": "High"
+      }
+    },
+    "CAM1_SERVO_OFF": {
+      "Description": "PWM value in microseconds to move servo to when shutter is deactivated",
+      "DisplayName": "Camera servo OFF PWM value",
+      "Range": {
+        "high": "2000",
+        "low": "1000"
+      },
+      "Units": "PWM",
+      "User": "Standard"
+    },
+    "CAM1_SERVO_ON": {
+      "Description": "PWM value in microseconds to move servo to when shutter is activated",
+      "DisplayName": "Camera servo ON PWM value",
+      "Range": {
+        "high": "2000",
+        "low": "1000"
+      },
+      "Units": "PWM",
+      "User": "Standard"
+    },
+    "CAM1_TRIGG_DIST": {
+      "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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.",
+      "DisplayName": "Camera trigger distance",
+      "Range": {
+        "high": "1000",
+        "low": "0"
+      },
+      "Units": "m",
+      "User": "Standard"
+    },
+    "CAM1_TYPE": {
+      "Description": "how to trigger the camera to take a picture",
+      "DisplayName": "Camera shutter (trigger) type",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "1": "Servo",
+        "2": "Relay",
+        "3": "GoPro in Solo Gimbal",
+        "4": "Mount (Siyi)",
+        "5": "MAVLink",
+        "6": "MAVLinkCamV2",
+        "7": "Scripting"
+      }
+    },
+    "CAM1_VFOV": {
+      "Description": "Camera vertical field of view. 0 if unknown",
+      "DisplayName": "Camera vertical field of view",
+      "Range": {
+        "high": "180",
+        "low": "0"
+      },
+      "Units": "deg",
+      "User": "Standard"
+    }
+  },
+  "CAM2": {
+    "CAM2_DURATION": {
+      "Description": "Duration in seconds that the camera shutter is held open",
+      "DisplayName": "Camera shutter duration held open",
+      "Range": {
+        "high": "5",
+        "low": "0"
+      },
+      "Units": "s",
+      "User": "Standard"
+    },
+    "CAM2_FEEDBAK_PIN": {
+      "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection.  Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.",
+      "DisplayName": "Camera feedback pin",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "50": "AUX1",
+        "51": "AUX2",
+        "52": "AUX3",
+        "53": "AUX4",
+        "54": "AUX5",
+        "55": "AUX6"
+      }
+    },
+    "CAM2_FEEDBAK_POL": {
+      "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low",
+      "DisplayName": "Camera feedback pin polarity",
+      "User": "Standard",
+      "Values": {
+        "0": "TriggerLow",
+        "1": "TriggerHigh"
+      }
+    },
+    "CAM2_HFOV": {
+      "Description": "Camera horizontal field of view. 0 if unknown",
+      "DisplayName": "Camera horizontal field of view",
+      "Range": {
+        "high": "360",
+        "low": "0"
+      },
+      "Units": "deg",
+      "User": "Standard"
+    },
+    "CAM2_INTRVAL_MIN": {
+      "Description": "Postpone shooting if previous picture was taken less than this many seconds ago",
+      "DisplayName": "Camera minimum time interval between photos",
+      "Range": {
+        "high": "10",
+        "low": "0"
+      },
+      "Units": "s",
+      "User": "Standard"
+    },
+    "CAM2_MNT_INST": {
+      "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1",
+      "DisplayName": "Camera Mount instance",
+      "User": "Standard"
+    },
+    "CAM2_OPTIONS": {
+      "Bitmask": {
+        "0": "Recording Starts at arming and stops at disarming"
+      },
+      "Description": "Camera options bitmask",
+      "DisplayName": "Camera options",
+      "User": "Standard"
+    },
+    "CAM2_RELAY_ON": {
+      "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera",
+      "DisplayName": "Camera relay ON value",
+      "User": "Standard",
+      "Values": {
+        "0": "Low",
+        "1": "High"
+      }
+    },
+    "CAM2_SERVO_OFF": {
+      "Description": "PWM value in microseconds to move servo to when shutter is deactivated",
+      "DisplayName": "Camera servo OFF PWM value",
+      "Range": {
+        "high": "2000",
+        "low": "1000"
+      },
+      "Units": "PWM",
+      "User": "Standard"
+    },
+    "CAM2_SERVO_ON": {
+      "Description": "PWM value in microseconds to move servo to when shutter is activated",
+      "DisplayName": "Camera servo ON PWM value",
+      "Range": {
+        "high": "2000",
+        "low": "1000"
+      },
+      "Units": "PWM",
+      "User": "Standard"
     },
-    "BTN8_SFUNCTION": {
-      "Description": "Set to 0 to disable or choose a function",
-      "DisplayName": "Function for button when the shift mode is toggled on",
+    "CAM2_TRIGG_DIST": {
+      "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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.",
+      "DisplayName": "Camera trigger distance",
+      "Range": {
+        "high": "1000",
+        "low": "0"
+      },
+      "Units": "m",
+      "User": "Standard"
+    },
+    "CAM2_TYPE": {
+      "Description": "how to trigger the camera to take a picture",
+      "DisplayName": "Camera shutter (trigger) type",
       "User": "Standard",
       "Values": {
-        "0": "Disabled",
-        "1": "shift",
-        "10": "mode_circle",
-        "101": "relay_4_on",
-        "102": "relay_4_off",
-        "103": "relay_4_toggle",
-        "104": "relay_1_momentary",
-        "105": "relay_2_momentary",
-        "106": "relay_3_momentary",
-        "107": "relay_4_momentary",
-        "108": "script_1",
-        "109": "script_2",
-        "11": "mode_guided",
-        "110": "script_3",
-        "111": "script_4",
-        "12": "mode_acro",
-        "13": "mode_surftrak",
-        "2": "arm_toggle",
-        "21": "mount_center",
-        "22": "mount_tilt_up",
-        "23": "mount_tilt_down",
-        "24": "camera_trigger",
-        "25": "camera_source_toggle",
-        "26": "mount_pan_right",
-        "27": "mount_pan_left",
-        "3": "arm",
-        "31": "lights1_cycle",
-        "32": "lights1_brighter",
-        "33": "lights1_dimmer",
-        "34": "lights2_cycle",
-        "35": "lights2_brighter",
-        "36": "lights2_dimmer",
-        "4": "disarm",
-        "41": "gain_toggle",
-        "42": "gain_inc",
-        "43": "gain_dec",
-        "44": "trim_roll_inc",
-        "45": "trim_roll_dec",
-        "46": "trim_pitch_inc",
-        "47": "trim_pitch_dec",
-        "48": "input_hold_set",
-        "49": "roll_pitch_toggle",
-        "5": "mode_manual",
-        "51": "relay_1_on",
-        "52": "relay_1_off",
-        "53": "relay_1_toggle",
-        "54": "relay_2_on",
-        "55": "relay_2_off",
-        "56": "relay_2_toggle",
-        "57": "relay_3_on",
-        "58": "relay_3_off",
-        "59": "relay_3_toggle",
-        "6": "mode_stabilize",
-        "61": "servo_1_inc",
-        "62": "servo_1_dec",
-        "63": "servo_1_min",
-        "64": "servo_1_max",
-        "65": "servo_1_center",
-        "66": "servo_2_inc",
-        "67": "servo_2_dec",
-        "68": "servo_2_min",
-        "69": "servo_2_max",
-        "7": "mode_depth_hold",
-        "70": "servo_2_center",
-        "71": "servo_3_inc",
-        "72": "servo_3_dec",
-        "73": "servo_3_min",
-        "74": "servo_3_max",
-        "75": "servo_3_center",
-        "76": "servo_1_min_momentary",
-        "77": "servo_1_max_momentary",
-        "78": "servo_1_min_toggle",
-        "79": "servo_1_max_toggle",
-        "8": "mode_poshold",
-        "80": "servo_2_min_momentary",
-        "81": "servo_2_max_momentary",
-        "82": "servo_2_min_toggle",
-        "83": "servo_2_max_toggle",
-        "84": "servo_3_min_momentary",
-        "85": "servo_3_max_momentary",
-        "86": "servo_3_min_toggle",
-        "87": "servo_3_max_toggle",
-        "9": "mode_auto",
-        "91": "custom_1",
-        "92": "custom_2",
-        "93": "custom_3",
-        "94": "custom_4",
-        "95": "custom_5",
-        "96": "custom_6"
+        "0": "None",
+        "1": "Servo",
+        "2": "Relay",
+        "3": "GoPro in Solo Gimbal",
+        "4": "Mount (Siyi)",
+        "5": "MAVLink",
+        "6": "MAVLinkCamV2",
+        "7": "Scripting"
       }
+    },
+    "CAM2_VFOV": {
+      "Description": "Camera vertical field of view. 0 if unknown",
+      "DisplayName": "Camera vertical field of view",
+      "Range": {
+        "high": "180",
+        "low": "0"
+      },
+      "Units": "deg",
+      "User": "Standard"
     }
   },
-  "BTN9_": {
-    "BTN9_FUNCTION": {
-      "Description": "Set to 0 to disable or choose a function",
-      "DisplayName": "Function for button",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "shift",
-        "10": "mode_circle",
-        "101": "relay_4_on",
-        "102": "relay_4_off",
-        "103": "relay_4_toggle",
-        "104": "relay_1_momentary",
-        "105": "relay_2_momentary",
-        "106": "relay_3_momentary",
-        "107": "relay_4_momentary",
-        "108": "script_1",
-        "109": "script_2",
-        "11": "mode_guided",
-        "110": "script_3",
-        "111": "script_4",
-        "12": "mode_acro",
-        "13": "mode_surftrak",
-        "2": "arm_toggle",
-        "21": "mount_center",
-        "22": "mount_tilt_up",
-        "23": "mount_tilt_down",
-        "24": "camera_trigger",
-        "25": "camera_source_toggle",
-        "26": "mount_pan_right",
-        "27": "mount_pan_left",
-        "3": "arm",
-        "31": "lights1_cycle",
-        "32": "lights1_brighter",
-        "33": "lights1_dimmer",
-        "34": "lights2_cycle",
-        "35": "lights2_brighter",
-        "36": "lights2_dimmer",
-        "4": "disarm",
-        "41": "gain_toggle",
-        "42": "gain_inc",
-        "43": "gain_dec",
-        "44": "trim_roll_inc",
-        "45": "trim_roll_dec",
-        "46": "trim_pitch_inc",
-        "47": "trim_pitch_dec",
-        "48": "input_hold_set",
-        "49": "roll_pitch_toggle",
-        "5": "mode_manual",
-        "51": "relay_1_on",
-        "52": "relay_1_off",
-        "53": "relay_1_toggle",
-        "54": "relay_2_on",
-        "55": "relay_2_off",
-        "56": "relay_2_toggle",
-        "57": "relay_3_on",
-        "58": "relay_3_off",
-        "59": "relay_3_toggle",
-        "6": "mode_stabilize",
-        "61": "servo_1_inc",
-        "62": "servo_1_dec",
-        "63": "servo_1_min",
-        "64": "servo_1_max",
-        "65": "servo_1_center",
-        "66": "servo_2_inc",
-        "67": "servo_2_dec",
-        "68": "servo_2_min",
-        "69": "servo_2_max",
-        "7": "mode_depth_hold",
-        "70": "servo_2_center",
-        "71": "servo_3_inc",
-        "72": "servo_3_dec",
-        "73": "servo_3_min",
-        "74": "servo_3_max",
-        "75": "servo_3_center",
-        "76": "servo_1_min_momentary",
-        "77": "servo_1_max_momentary",
-        "78": "servo_1_min_toggle",
-        "79": "servo_1_max_toggle",
-        "8": "mode_poshold",
-        "80": "servo_2_min_momentary",
-        "81": "servo_2_max_momentary",
-        "82": "servo_2_min_toggle",
-        "83": "servo_2_max_toggle",
-        "84": "servo_3_min_momentary",
-        "85": "servo_3_max_momentary",
-        "86": "servo_3_min_toggle",
-        "87": "servo_3_max_toggle",
-        "9": "mode_auto",
-        "91": "custom_1",
-        "92": "custom_2",
-        "93": "custom_3",
-        "94": "custom_4",
-        "95": "custom_5",
-        "96": "custom_6"
-      }
+  "CAM_RC_": {
+    "CAM_RC_BTN_DELAY": {
+      "Description": "Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.",
+      "DisplayName": "RunCam button delay before allowing further button presses",
+      "User": "Advanced"
+    },
+    "CAM_RC_BT_DELAY": {
+      "Description": "Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.",
+      "DisplayName": "RunCam boot delay before allowing updates",
+      "User": "Advanced"
+    },
+    "CAM_RC_CONTROL": {
+      "Bitmask": {
+        "0": "Stick yaw right",
+        "1": "Stick roll right",
+        "2": "3-position switch",
+        "3": "2-position switch",
+        "4": "Autorecording enabled"
+      },
+      "Description": "Specifies the allowed actions required to enter the OSD menu and other option like autorecording",
+      "DisplayName": "RunCam control option",
+      "User": "Advanced"
+    },
+    "CAM_RC_FEATURES": {
+      "Bitmask": {
+        "0": "Power Button",
+        "1": "WiFi Button",
+        "2": "Change Mode",
+        "3": "5-Key OSD",
+        "4": "Settings Access",
+        "5": "DisplayPort",
+        "6": "Start Recording",
+        "7": "Stop Recording"
+      },
+      "Description": "The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.",
+      "DisplayName": "RunCam features available",
+      "User": "Advanced"
     },
-    "BTN9_SFUNCTION": {
-      "Description": "Set to 0 to disable or choose a function",
-      "DisplayName": "Function for button when the shift mode is toggled on",
-      "User": "Standard",
+    "CAM_RC_MDE_DELAY": {
+      "Description": "Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.",
+      "DisplayName": "RunCam mode delay before allowing further button presses",
+      "User": "Advanced"
+    },
+    "CAM_RC_TYPE": {
+      "Description": "RunCam device type used to determine OSD menu structure and shutter options.",
+      "DisplayName": "RunCam device type",
       "Values": {
         "0": "Disabled",
-        "1": "shift",
-        "10": "mode_circle",
-        "101": "relay_4_on",
-        "102": "relay_4_off",
-        "103": "relay_4_toggle",
-        "104": "relay_1_momentary",
-        "105": "relay_2_momentary",
-        "106": "relay_3_momentary",
-        "107": "relay_4_momentary",
-        "108": "script_1",
-        "109": "script_2",
-        "11": "mode_guided",
-        "110": "script_3",
-        "111": "script_4",
-        "12": "mode_acro",
-        "13": "mode_surftrak",
-        "2": "arm_toggle",
-        "21": "mount_center",
-        "22": "mount_tilt_up",
-        "23": "mount_tilt_down",
-        "24": "camera_trigger",
-        "25": "camera_source_toggle",
-        "26": "mount_pan_right",
-        "27": "mount_pan_left",
-        "3": "arm",
-        "31": "lights1_cycle",
-        "32": "lights1_brighter",
-        "33": "lights1_dimmer",
-        "34": "lights2_cycle",
-        "35": "lights2_brighter",
-        "36": "lights2_dimmer",
-        "4": "disarm",
-        "41": "gain_toggle",
-        "42": "gain_inc",
-        "43": "gain_dec",
-        "44": "trim_roll_inc",
-        "45": "trim_roll_dec",
-        "46": "trim_pitch_inc",
-        "47": "trim_pitch_dec",
-        "48": "input_hold_set",
-        "49": "roll_pitch_toggle",
-        "5": "mode_manual",
-        "51": "relay_1_on",
-        "52": "relay_1_off",
-        "53": "relay_1_toggle",
-        "54": "relay_2_on",
-        "55": "relay_2_off",
-        "56": "relay_2_toggle",
-        "57": "relay_3_on",
-        "58": "relay_3_off",
-        "59": "relay_3_toggle",
-        "6": "mode_stabilize",
-        "61": "servo_1_inc",
-        "62": "servo_1_dec",
-        "63": "servo_1_min",
-        "64": "servo_1_max",
-        "65": "servo_1_center",
-        "66": "servo_2_inc",
-        "67": "servo_2_dec",
-        "68": "servo_2_min",
-        "69": "servo_2_max",
-        "7": "mode_depth_hold",
-        "70": "servo_2_center",
-        "71": "servo_3_inc",
-        "72": "servo_3_dec",
-        "73": "servo_3_min",
-        "74": "servo_3_max",
-        "75": "servo_3_center",
-        "76": "servo_1_min_momentary",
-        "77": "servo_1_max_momentary",
-        "78": "servo_1_min_toggle",
-        "79": "servo_1_max_toggle",
-        "8": "mode_poshold",
-        "80": "servo_2_min_momentary",
-        "81": "servo_2_max_momentary",
-        "82": "servo_2_min_toggle",
-        "83": "servo_2_max_toggle",
-        "84": "servo_3_min_momentary",
-        "85": "servo_3_max_momentary",
-        "86": "servo_3_min_toggle",
-        "87": "servo_3_max_toggle",
-        "9": "mode_auto",
-        "91": "custom_1",
-        "92": "custom_2",
-        "93": "custom_3",
-        "94": "custom_4",
-        "95": "custom_5",
-        "96": "custom_6"
+        "1": "RunCam Split Micro/RunCam with UART",
+        "2": "RunCam Split",
+        "3": "RunCam Split4 4k",
+        "4": "RunCam Hybrid/RunCam Thumb Pro",
+        "5": "Runcam 2 4k"
       }
     }
   },
-  "CAM": {
-    "CAM_AUTO_ONLY": {
-      "Description": "When enabled, trigging by distance is done in AUTO mode only.",
-      "DisplayName": "Distance-trigging in AUTO mode only",
-      "User": "Standard",
+  "CAN_": {
+    "CAN_LOGLEVEL": {
+      "Description": "Loglevel for recording initialisation and debug information from CAN Interface",
+      "DisplayName": "Loglevel",
+      "Range": {
+        "high": "4",
+        "low": "0"
+      },
+      "User": "Advanced",
       "Values": {
-        "0": "Always",
-        "1": "Only when in AUTO"
+        "0": "Log None",
+        "1": "Log Error",
+        "2": "Log Warning and below",
+        "3": "Log Info and below",
+        "4": "Log Everything"
+      }
+    }
+  },
+  "CAN_D1_": {
+    "CAN_D1_PROTOCOL": {
+      "Description": "Enabling this option starts selected protocol that will use this virtual driver",
+      "DisplayName": "Enable use of specific protocol over virtual driver",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "DroneCAN",
+        "10": "Scripting",
+        "11": "Benewake",
+        "12": "Scripting2",
+        "13": "TOFSenseP",
+        "14": "NanoRadar_NRA24",
+        "4": "PiccoloCAN",
+        "6": "EFI_NWPMU",
+        "7": "USD1",
+        "8": "KDECAN"
+      }
+    },
+    "CAN_D1_PROTOCOL2": {
+      "Description": "Secondary protocol with 11 bit CAN addressing",
+      "DisplayName": "Secondary protocol with 11 bit CAN addressing",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "10": "Scripting",
+        "11": "Benewake",
+        "12": "Scripting2",
+        "13": "TOFSenseP",
+        "14": "NanoRadar_NRA24",
+        "7": "USD1"
       }
+    }
+  },
+  "CAN_D1_PC_": {
+    "CAN_D1_PC_ECU_ID": {
+      "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.",
+      "DisplayName": "ECU Node ID",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
+    "CAN_D1_PC_ECU_RT": {
+      "Description": "Output rate of ECU command messages",
+      "DisplayName": "ECU command output rate",
+      "Range": {
+        "high": "500",
+        "low": "1"
+      },
+      "Units": "Hz",
+      "User": "Advanced"
+    },
+    "CAN_D1_PC_ESC_BM": {
+      "Bitmask": {
+        "0": "ESC 1",
+        "1": "ESC 2",
+        "10": "ESC 11",
+        "11": "ESC 12",
+        "12": "ESC 13",
+        "13": "ESC 14",
+        "14": "ESC 15",
+        "15": "ESC 16",
+        "16": "ESC 17",
+        "17": "ESC 18",
+        "18": "ESC 19",
+        "19": "ESC 20",
+        "2": "ESC 3",
+        "20": "ESC 21",
+        "21": "ESC 22",
+        "22": "ESC 23",
+        "23": "ESC 24",
+        "24": "ESC 25",
+        "25": "ESC 26",
+        "26": "ESC 27",
+        "27": "ESC 28",
+        "28": "ESC 29",
+        "29": "ESC 30",
+        "3": "ESC 4",
+        "30": "ESC 31",
+        "31": "ESC 32",
+        "4": "ESC 5",
+        "5": "ESC 6",
+        "6": "ESC 7",
+        "7": "ESC 8",
+        "8": "ESC 9",
+        "9": "ESC 10"
+      },
+      "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN",
+      "DisplayName": "ESC channels",
+      "User": "Advanced"
+    },
+    "CAN_D1_PC_ESC_RT": {
+      "Description": "Output rate of ESC command messages",
+      "DisplayName": "ESC output rate",
+      "Range": {
+        "high": "500",
+        "low": "1"
+      },
+      "Units": "Hz",
+      "User": "Advanced"
+    },
+    "CAN_D1_PC_SRV_BM": {
+      "Bitmask": {
+        "0": "Servo 1",
+        "1": "Servo 2",
+        "10": "Servo 11",
+        "11": "Servo 12",
+        "12": "Servo 13",
+        "13": "Servo 14",
+        "14": "Servo 15",
+        "15": "Servo 16",
+        "2": "Servo 3",
+        "3": "Servo 4",
+        "4": "Servo 5",
+        "5": "Servo 6",
+        "6": "Servo 7",
+        "7": "Servo 8",
+        "8": "Servo 9",
+        "9": "Servo 10"
+      },
+      "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN",
+      "DisplayName": "Servo channels",
+      "User": "Advanced"
     },
-    "CAM_MAX_ROLL": {
-      "Description": "Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).",
-      "DisplayName": "Maximum photo roll angle.",
+    "CAN_D1_PC_SRV_RT": {
+      "Description": "Output rate of servo command messages",
+      "DisplayName": "Servo command output rate",
       "Range": {
-        "high": "180",
-        "low": "0"
+        "high": "500",
+        "low": "1"
       },
-      "Units": "deg",
-      "User": "Standard"
+      "Units": "Hz",
+      "User": "Advanced"
     }
   },
-  "CAM1": {
-    "CAM1_DURATION": {
-      "Description": "Duration in seconds that the camera shutter is held open",
-      "DisplayName": "Camera shutter duration held open",
+  "CAN_D1_UC_": {
+    "CAN_D1_UC_ESC_BM": {
+      "Bitmask": {
+        "0": "ESC 1",
+        "1": "ESC 2",
+        "10": "ESC 11",
+        "11": "ESC 12",
+        "12": "ESC 13",
+        "13": "ESC 14",
+        "14": "ESC 15",
+        "15": "ESC 16",
+        "16": "ESC 17",
+        "17": "ESC 18",
+        "18": "ESC 19",
+        "19": "ESC 20",
+        "2": "ESC 3",
+        "20": "ESC 21",
+        "21": "ESC 22",
+        "22": "ESC 23",
+        "23": "ESC 24",
+        "24": "ESC 25",
+        "25": "ESC 26",
+        "26": "ESC 27",
+        "27": "ESC 28",
+        "28": "ESC 29",
+        "29": "ESC 30",
+        "3": "ESC 4",
+        "30": "ESC 31",
+        "31": "ESC 32",
+        "4": "ESC 5",
+        "5": "ESC 6",
+        "6": "ESC 7",
+        "7": "ESC 8",
+        "8": "ESC 9",
+        "9": "ESC 10"
+      },
+      "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN",
+      "DisplayName": "Output channels to be transmitted as ESC over DroneCAN",
+      "User": "Advanced"
+    },
+    "CAN_D1_UC_ESC_OF": {
+      "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth",
+      "DisplayName": "ESC Output channels offset",
       "Range": {
-        "high": "5",
+        "high": "18",
         "low": "0"
       },
-      "Units": "s",
-      "User": "Standard"
-    },
-    "CAM1_FEEDBAK_PIN": {
-      "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection.  Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.",
-      "DisplayName": "Camera feedback pin",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "50": "AUX1",
-        "51": "AUX2",
-        "52": "AUX3",
-        "53": "AUX4",
-        "54": "AUX5",
-        "55": "AUX6"
-      }
+      "User": "Advanced"
     },
-    "CAM1_FEEDBAK_POL": {
-      "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low",
-      "DisplayName": "Camera feedback pin polarity",
-      "User": "Standard",
-      "Values": {
-        "0": "TriggerLow",
-        "1": "TriggerHigh"
-      }
+    "CAN_D1_UC_ESC_RV": {
+      "Bitmask": {
+        "0": "ESC 1",
+        "1": "ESC 2",
+        "10": "ESC 11",
+        "11": "ESC 12",
+        "12": "ESC 13",
+        "13": "ESC 14",
+        "14": "ESC 15",
+        "15": "ESC 16",
+        "16": "ESC 17",
+        "17": "ESC 18",
+        "18": "ESC 19",
+        "19": "ESC 20",
+        "2": "ESC 3",
+        "20": "ESC 21",
+        "21": "ESC 22",
+        "22": "ESC 23",
+        "23": "ESC 24",
+        "24": "ESC 25",
+        "25": "ESC 26",
+        "26": "ESC 27",
+        "27": "ESC 28",
+        "28": "ESC 29",
+        "29": "ESC 30",
+        "3": "ESC 4",
+        "30": "ESC 31",
+        "31": "ESC 32",
+        "4": "ESC 5",
+        "5": "ESC 6",
+        "6": "ESC 7",
+        "7": "ESC 8",
+        "8": "ESC 9",
+        "9": "ESC 10"
+      },
+      "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.",
+      "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.",
+      "User": "Advanced"
     },
-    "CAM1_HFOV": {
-      "Description": "Camera horizontal field of view. 0 if unknown",
-      "DisplayName": "Camera horizontal field of view",
+    "CAN_D1_UC_NODE": {
+      "Description": "DroneCAN node should be set implicitly",
+      "DisplayName": "DroneCAN node that is used for this network",
       "Range": {
-        "high": "360",
-        "low": "0"
+        "high": "250",
+        "low": "1"
       },
-      "Units": "deg",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "CAM1_INTRVAL_MIN": {
-      "Description": "Postpone shooting if previous picture was taken less than this many seconds ago",
-      "DisplayName": "Camera minimum time interval between photos",
+    "CAN_D1_UC_NTF_RT": {
+      "Description": "Maximum transmit rate for Notify State Message",
+      "DisplayName": "Notify State rate",
       "Range": {
-        "high": "10",
-        "low": "0"
+        "high": "200",
+        "low": "1"
       },
-      "Units": "s",
-      "User": "Standard"
-    },
-    "CAM1_MNT_INST": {
-      "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1",
-      "DisplayName": "Camera Mount instance",
-      "User": "Standard"
+      "Units": "Hz",
+      "User": "Advanced"
     },
-    "CAM1_OPTIONS": {
+    "CAN_D1_UC_OPTION": {
       "Bitmask": {
-        "0": "Recording Starts at arming and stops at disarming"
-      },
-      "Description": "Camera options bitmask",
-      "DisplayName": "Camera options",
-      "User": "Standard"
-    },
-    "CAM1_RELAY_ON": {
-      "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera",
-      "DisplayName": "Camera relay ON value",
-      "User": "Standard",
-      "Values": {
-        "0": "Low",
-        "1": "High"
-      }
-    },
-    "CAM1_SERVO_OFF": {
-      "Description": "PWM value in microseconds to move servo to when shutter is deactivated",
-      "DisplayName": "Camera servo OFF PWM value",
-      "Range": {
-        "high": "2000",
-        "low": "1000"
+        "0": "ClearDNADatabase",
+        "1": "IgnoreDNANodeConflicts",
+        "2": "EnableCanfd",
+        "3": "IgnoreDNANodeUnhealthy",
+        "4": "SendServoAsPWM",
+        "5": "SendGNSS",
+        "6": "UseHimarkServo",
+        "7": "HobbyWingESC",
+        "8": "EnableStats"
       },
-      "Units": "PWM",
-      "User": "Standard"
+      "Description": "Option flags",
+      "DisplayName": "DroneCAN options",
+      "User": "Advanced"
     },
-    "CAM1_SERVO_ON": {
-      "Description": "PWM value in microseconds to move servo to when shutter is activated",
-      "DisplayName": "Camera servo ON PWM value",
+    "CAN_D1_UC_POOL": {
+      "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads",
+      "DisplayName": "CAN pool size",
       "Range": {
-        "high": "2000",
-        "low": "1000"
+        "high": "16384",
+        "low": "1024"
       },
-      "Units": "PWM",
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "CAM1_TRIGG_DIST": {
-      "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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.",
-      "DisplayName": "Camera trigger distance",
+    "CAN_D1_UC_RLY_RT": {
+      "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state",
+      "DisplayName": "DroneCAN relay output rate",
       "Range": {
-        "high": "1000",
+        "high": "200",
         "low": "0"
       },
-      "Units": "m",
-      "User": "Standard"
+      "Units": "Hz",
+      "User": "Advanced"
     },
-    "CAM1_TYPE": {
-      "Description": "how to trigger the camera to take a picture",
-      "DisplayName": "Camera shutter (trigger) type",
-      "User": "Standard",
+    "CAN_D1_UC_S1_BD": {
+      "Description": "Serial baud rate on remote CAN node",
+      "DisplayName": "DroneCAN Serial default baud rate",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "Servo",
-        "2": "Relay",
-        "3": "GoPro in Solo Gimbal",
-        "4": "Mount (Siyi)",
-        "5": "MAVLink",
-        "6": "MAVLinkCamV2",
-        "7": "Scripting"
+        "1": "1200",
+        "111": "111100",
+        "115": "115200",
+        "1500": "1500000",
+        "19": "19200",
+        "2": "2400",
+        "2000": "2000000",
+        "230": "230400",
+        "256": "256000",
+        "38": "38400",
+        "4": "4800",
+        "460": "460800",
+        "500": "500000",
+        "57": "57600",
+        "9": "9600",
+        "921": "921600"
       }
     },
-    "CAM1_VFOV": {
-      "Description": "Camera vertical field of view. 0 if unknown",
-      "DisplayName": "Camera vertical field of view",
+    "CAN_D1_UC_S1_IDX": {
+      "Description": "Serial port number on remote CAN node",
+      "DisplayName": "DroneCAN Serial1 index",
       "Range": {
-        "high": "180",
+        "high": "100",
         "low": "0"
       },
-      "Units": "deg",
-      "User": "Standard"
-    }
-  },
-  "CAM2": {
-    "CAM2_DURATION": {
-      "Description": "Duration in seconds that the camera shutter is held open",
-      "DisplayName": "Camera shutter duration held open",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "-1": "Disabled",
+        "0": "Serial0",
+        "1": "Serial1",
+        "2": "Serial2",
+        "3": "Serial3",
+        "4": "Serial4",
+        "5": "Serial5",
+        "6": "Serial6"
+      }
+    },
+    "CAN_D1_UC_S1_NOD": {
+      "Description": "CAN remote node number for serial port",
+      "DisplayName": "Serial CAN remote node number",
       "Range": {
-        "high": "5",
+        "high": "127",
         "low": "0"
       },
-      "Units": "s",
-      "User": "Standard"
+      "RebootRequired": "True",
+      "User": "Advanced"
     },
-    "CAM2_FEEDBAK_PIN": {
-      "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection.  Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.",
-      "DisplayName": "Camera feedback pin",
+    "CAN_D1_UC_S1_PRO": {
+      "Description": "Serial protocol of DroneCAN serial port",
+      "DisplayName": "Serial protocol of DroneCAN serial port",
       "RebootRequired": "True",
-      "User": "Standard",
+      "User": "Advanced",
       "Values": {
-        "-1": "Disabled",
-        "50": "AUX1",
-        "51": "AUX2",
-        "52": "AUX3",
-        "53": "AUX4",
-        "54": "AUX5",
-        "55": "AUX6"
+        "-1": "None",
+        "1": "MAVLink1",
+        "10": "FrSky SPort Passthrough (OpenTX)",
+        "11": "Lidar360",
+        "13": "Beacon",
+        "14": "Volz servo out",
+        "15": "SBus servo out",
+        "16": "ESC Telemetry",
+        "17": "Devo Telemetry",
+        "18": "OpticalFlow",
+        "19": "RobotisServo",
+        "2": "MAVLink2",
+        "20": "NMEA Output",
+        "21": "WindVane",
+        "22": "SLCAN",
+        "23": "RCIN",
+        "24": "EFI Serial",
+        "25": "LTM",
+        "26": "RunCam",
+        "27": "HottTelem",
+        "28": "Scripting",
+        "29": "Crossfire VTX",
+        "3": "Frsky D",
+        "30": "Generator",
+        "31": "Winch",
+        "32": "MSP",
+        "33": "DJI FPV",
+        "34": "AirSpeed",
+        "35": "ADSB",
+        "36": "AHRS",
+        "37": "SmartAudio",
+        "38": "FETtecOneWire",
+        "39": "Torqeedo",
+        "4": "Frsky SPort",
+        "40": "AIS",
+        "41": "CoDevESC",
+        "42": "DisplayPort",
+        "43": "MAVLink High Latency",
+        "44": "IRC Tramp",
+        "45": "DDS XRCE",
+        "46": "IMUDATA",
+        "5": "GPS",
+        "7": "Alexmos Gimbal Serial",
+        "8": "Gimbal",
+        "9": "Rangefinder"
       }
     },
-    "CAM2_FEEDBAK_POL": {
-      "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low",
-      "DisplayName": "Camera feedback pin polarity",
-      "User": "Standard",
+    "CAN_D1_UC_S2_BD": {
+      "Description": "Serial baud rate on remote CAN node",
+      "DisplayName": "DroneCAN Serial default baud rate",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
-        "0": "TriggerLow",
-        "1": "TriggerHigh"
+        "1": "1200",
+        "111": "111100",
+        "115": "115200",
+        "1500": "1500000",
+        "19": "19200",
+        "2": "2400",
+        "2000": "2000000",
+        "230": "230400",
+        "256": "256000",
+        "38": "38400",
+        "4": "4800",
+        "460": "460800",
+        "500": "500000",
+        "57": "57600",
+        "9": "9600",
+        "921": "921600"
       }
     },
-    "CAM2_HFOV": {
-      "Description": "Camera horizontal field of view. 0 if unknown",
-      "DisplayName": "Camera horizontal field of view",
+    "CAN_D1_UC_S2_IDX": {
+      "Description": "Serial port number on remote CAN node",
+      "DisplayName": "Serial port number on remote CAN node",
       "Range": {
-        "high": "360",
+        "high": "100",
         "low": "0"
       },
-      "Units": "deg",
-      "User": "Standard"
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "-1": "Disabled",
+        "0": "Serial0",
+        "1": "Serial1",
+        "2": "Serial2",
+        "3": "Serial3",
+        "4": "Serial4",
+        "5": "Serial5",
+        "6": "Serial6"
+      }
     },
-    "CAM2_INTRVAL_MIN": {
-      "Description": "Postpone shooting if previous picture was taken less than this many seconds ago",
-      "DisplayName": "Camera minimum time interval between photos",
+    "CAN_D1_UC_S2_NOD": {
+      "Description": "CAN remote node number for serial port",
+      "DisplayName": "Serial CAN remote node number",
       "Range": {
-        "high": "10",
+        "high": "127",
         "low": "0"
       },
-      "Units": "s",
-      "User": "Standard"
-    },
-    "CAM2_MNT_INST": {
-      "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1",
-      "DisplayName": "Camera Mount instance",
-      "User": "Standard"
-    },
-    "CAM2_OPTIONS": {
-      "Bitmask": {
-        "0": "Recording Starts at arming and stops at disarming"
-      },
-      "Description": "Camera options bitmask",
-      "DisplayName": "Camera options",
-      "User": "Standard"
+      "RebootRequired": "True",
+      "User": "Advanced"
     },
-    "CAM2_RELAY_ON": {
-      "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera",
-      "DisplayName": "Camera relay ON value",
-      "User": "Standard",
+    "CAN_D1_UC_S2_PRO": {
+      "Description": "Serial protocol of DroneCAN serial port",
+      "DisplayName": "Serial protocol of DroneCAN serial port",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
-        "0": "Low",
-        "1": "High"
+        "-1": "None",
+        "1": "MAVLink1",
+        "10": "FrSky SPort Passthrough (OpenTX)",
+        "11": "Lidar360",
+        "13": "Beacon",
+        "14": "Volz servo out",
+        "15": "SBus servo out",
+        "16": "ESC Telemetry",
+        "17": "Devo Telemetry",
+        "18": "OpticalFlow",
+        "19": "RobotisServo",
+        "2": "MAVLink2",
+        "20": "NMEA Output",
+        "21": "WindVane",
+        "22": "SLCAN",
+        "23": "RCIN",
+        "24": "EFI Serial",
+        "25": "LTM",
+        "26": "RunCam",
+        "27": "HottTelem",
+        "28": "Scripting",
+        "29": "Crossfire VTX",
+        "3": "Frsky D",
+        "30": "Generator",
+        "31": "Winch",
+        "32": "MSP",
+        "33": "DJI FPV",
+        "34": "AirSpeed",
+        "35": "ADSB",
+        "36": "AHRS",
+        "37": "SmartAudio",
+        "38": "FETtecOneWire",
+        "39": "Torqeedo",
+        "4": "Frsky SPort",
+        "40": "AIS",
+        "41": "CoDevESC",
+        "42": "DisplayPort",
+        "43": "MAVLink High Latency",
+        "44": "IRC Tramp",
+        "45": "DDS XRCE",
+        "46": "IMUDATA",
+        "5": "GPS",
+        "7": "Alexmos Gimbal Serial",
+        "8": "Gimbal",
+        "9": "Rangefinder"
       }
     },
-    "CAM2_SERVO_OFF": {
-      "Description": "PWM value in microseconds to move servo to when shutter is deactivated",
-      "DisplayName": "Camera servo OFF PWM value",
-      "Range": {
-        "high": "2000",
-        "low": "1000"
-      },
-      "Units": "PWM",
-      "User": "Standard"
-    },
-    "CAM2_SERVO_ON": {
-      "Description": "PWM value in microseconds to move servo to when shutter is activated",
-      "DisplayName": "Camera servo ON PWM value",
-      "Range": {
-        "high": "2000",
-        "low": "1000"
-      },
-      "Units": "PWM",
-      "User": "Standard"
+    "CAN_D1_UC_S3_BD": {
+      "Description": "Serial baud rate on remote CAN node",
+      "DisplayName": "Serial baud rate on remote CAN node",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "1": "1200",
+        "111": "111100",
+        "115": "115200",
+        "1500": "1500000",
+        "19": "19200",
+        "2": "2400",
+        "2000": "2000000",
+        "230": "230400",
+        "256": "256000",
+        "38": "38400",
+        "4": "4800",
+        "460": "460800",
+        "500": "500000",
+        "57": "57600",
+        "9": "9600",
+        "921": "921600"
+      }
     },
-    "CAM2_TRIGG_DIST": {
-      "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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.",
-      "DisplayName": "Camera trigger distance",
+    "CAN_D1_UC_S3_IDX": {
+      "Description": "Serial port number on remote CAN node",
+      "DisplayName": "Serial port number on remote CAN node",
       "Range": {
-        "high": "1000",
+        "high": "100",
         "low": "0"
       },
-      "Units": "m",
-      "User": "Standard"
-    },
-    "CAM2_TYPE": {
-      "Description": "how to trigger the camera to take a picture",
-      "DisplayName": "Camera shutter (trigger) type",
-      "User": "Standard",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "Servo",
-        "2": "Relay",
-        "3": "GoPro in Solo Gimbal",
-        "4": "Mount (Siyi)",
-        "5": "MAVLink",
-        "6": "MAVLinkCamV2",
-        "7": "Scripting"
+        "-1": "Disabled",
+        "0": "Serial0",
+        "1": "Serial1",
+        "2": "Serial2",
+        "3": "Serial3",
+        "4": "Serial4",
+        "5": "Serial5",
+        "6": "Serial6"
       }
     },
-    "CAM2_VFOV": {
-      "Description": "Camera vertical field of view. 0 if unknown",
-      "DisplayName": "Camera vertical field of view",
+    "CAN_D1_UC_S3_NOD": {
+      "Description": "CAN node number for serial port",
+      "DisplayName": "Serial CAN remote node number",
       "Range": {
-        "high": "180",
+        "high": "127",
         "low": "0"
       },
-      "Units": "deg",
-      "User": "Standard"
-    }
-  },
-  "CAM_RC_": {
-    "CAM_RC_BTN_DELAY": {
-      "Description": "Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.",
-      "DisplayName": "RunCam button delay before allowing further button presses",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "CAM_RC_BT_DELAY": {
-      "Description": "Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.",
-      "DisplayName": "RunCam boot delay before allowing updates",
-      "User": "Advanced"
+    "CAN_D1_UC_S3_PRO": {
+      "Description": "Serial protocol of DroneCAN serial port",
+      "DisplayName": "Serial protocol of DroneCAN serial port",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "-1": "None",
+        "1": "MAVLink1",
+        "10": "FrSky SPort Passthrough (OpenTX)",
+        "11": "Lidar360",
+        "13": "Beacon",
+        "14": "Volz servo out",
+        "15": "SBus servo out",
+        "16": "ESC Telemetry",
+        "17": "Devo Telemetry",
+        "18": "OpticalFlow",
+        "19": "RobotisServo",
+        "2": "MAVLink2",
+        "20": "NMEA Output",
+        "21": "WindVane",
+        "22": "SLCAN",
+        "23": "RCIN",
+        "24": "EFI Serial",
+        "25": "LTM",
+        "26": "RunCam",
+        "27": "HottTelem",
+        "28": "Scripting",
+        "29": "Crossfire VTX",
+        "3": "Frsky D",
+        "30": "Generator",
+        "31": "Winch",
+        "32": "MSP",
+        "33": "DJI FPV",
+        "34": "AirSpeed",
+        "35": "ADSB",
+        "36": "AHRS",
+        "37": "SmartAudio",
+        "38": "FETtecOneWire",
+        "39": "Torqeedo",
+        "4": "Frsky SPort",
+        "40": "AIS",
+        "41": "CoDevESC",
+        "42": "DisplayPort",
+        "43": "MAVLink High Latency",
+        "44": "IRC Tramp",
+        "45": "DDS XRCE",
+        "46": "IMUDATA",
+        "5": "GPS",
+        "7": "Alexmos Gimbal Serial",
+        "8": "Gimbal",
+        "9": "Rangefinder"
+      }
     },
-    "CAM_RC_CONTROL": {
-      "Bitmask": {
-        "0": "Stick yaw right",
-        "1": "Stick roll right",
-        "2": "3-position switch",
-        "3": "2-position switch",
-        "4": "Autorecording enabled"
-      },
-      "Description": "Specifies the allowed actions required to enter the OSD menu and other option like autorecording",
-      "DisplayName": "RunCam control option",
-      "User": "Advanced"
+    "CAN_D1_UC_SER_EN": {
+      "Description": "Enable DroneCAN virtual serial ports",
+      "DisplayName": "DroneCAN Serial enable",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "CAM_RC_FEATURES": {
+    "CAN_D1_UC_SRV_BM": {
       "Bitmask": {
-        "0": "Power Button",
-        "1": "WiFi Button",
-        "2": "Change Mode",
-        "3": "5-Key OSD",
-        "4": "Settings Access",
-        "5": "DisplayPort",
-        "6": "Start Recording",
-        "7": "Stop Recording"
+        "0": "Servo 1",
+        "1": "Servo 2",
+        "10": "Servo 11",
+        "11": "Servo 12",
+        "12": "Servo 13",
+        "13": "Servo 14",
+        "14": "Servo 15",
+        "15": "Servo 16",
+        "16": "Servo 17",
+        "17": "Servo 18",
+        "18": "Servo 19",
+        "19": "Servo 20",
+        "2": "Servo 3",
+        "20": "Servo 21",
+        "21": "Servo 22",
+        "22": "Servo 23",
+        "23": "Servo 24",
+        "24": "Servo 25",
+        "25": "Servo 26",
+        "26": "Servo 27",
+        "27": "Servo 28",
+        "28": "Servo 29",
+        "29": "Servo 30",
+        "3": "Servo 4",
+        "30": "Servo 31",
+        "31": "Servo 32",
+        "4": "Servo 5",
+        "5": "Servo 6",
+        "6": "Servo 7",
+        "7": "Servo 8",
+        "8": "Servo 9",
+        "9": "Servo 10"
       },
-      "Description": "The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.",
-      "DisplayName": "RunCam features available",
-      "User": "Advanced"
-    },
-    "CAM_RC_MDE_DELAY": {
-      "Description": "Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.",
-      "DisplayName": "RunCam mode delay before allowing further button presses",
-      "User": "Advanced"
+      "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN",
+      "DisplayName": "Output channels to be transmitted as servo over DroneCAN"
     },
-    "CAM_RC_TYPE": {
-      "Description": "RunCam device type used to determine OSD menu structure and shutter options.",
-      "DisplayName": "RunCam device type",
-      "Values": {
-        "0": "Disabled",
-        "1": "RunCam Split Micro/RunCam with UART",
-        "2": "RunCam Split",
-        "3": "RunCam Split4 4k",
-        "4": "RunCam Hybrid/RunCam Thumb Pro",
-        "5": "Runcam 2 4k"
-      }
-    }
-  },
-  "CAN_": {
-    "CAN_LOGLEVEL": {
-      "Description": "Loglevel for recording initialisation and debug information from CAN Interface",
-      "DisplayName": "Loglevel",
+    "CAN_D1_UC_SRV_RT": {
+      "Description": "Maximum transmit rate for servo outputs",
+      "DisplayName": "Servo output rate",
       "Range": {
-        "high": "4",
-        "low": "0"
+        "high": "200",
+        "low": "1"
       },
-      "User": "Advanced",
-      "Values": {
-        "0": "Log None",
-        "1": "Log Error",
-        "2": "Log Warning and below",
-        "3": "Log Info and below",
-        "4": "Log Everything"
-      }
+      "Units": "Hz",
+      "User": "Advanced"
     }
   },
-  "CAN_D1_": {
-    "CAN_D1_PROTOCOL": {
+  "CAN_D2_": {
+    "CAN_D2_PROTOCOL": {
       "Description": "Enabling this option starts selected protocol that will use this virtual driver",
       "DisplayName": "Enable use of specific protocol over virtual driver",
       "RebootRequired": "True",
@@ -15927,7 +15206,7 @@
         "8": "KDECAN"
       }
     },
-    "CAN_D1_PROTOCOL2": {
+    "CAN_D2_PROTOCOL2": {
       "Description": "Secondary protocol with 11 bit CAN addressing",
       "DisplayName": "Secondary protocol with 11 bit CAN addressing",
       "RebootRequired": "True",
@@ -15943,8 +15222,8 @@
       }
     }
   },
-  "CAN_D1_PC_": {
-    "CAN_D1_PC_ECU_ID": {
+  "CAN_D2_PC_": {
+    "CAN_D2_PC_ECU_ID": {
       "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.",
       "DisplayName": "ECU Node ID",
       "Range": {
@@ -15953,7 +15232,7 @@
       },
       "User": "Advanced"
     },
-    "CAN_D1_PC_ECU_RT": {
+    "CAN_D2_PC_ECU_RT": {
       "Description": "Output rate of ECU command messages",
       "DisplayName": "ECU command output rate",
       "Range": {
@@ -15963,7 +15242,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "CAN_D1_PC_ESC_BM": {
+    "CAN_D2_PC_ESC_BM": {
       "Bitmask": {
         "0": "ESC 1",
         "1": "ESC 2",
@@ -16002,7 +15281,7 @@
       "DisplayName": "ESC channels",
       "User": "Advanced"
     },
-    "CAN_D1_PC_ESC_RT": {
+    "CAN_D2_PC_ESC_RT": {
       "Description": "Output rate of ESC command messages",
       "DisplayName": "ESC output rate",
       "Range": {
@@ -16012,7 +15291,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "CAN_D1_PC_SRV_BM": {
+    "CAN_D2_PC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
         "1": "Servo 2",
@@ -16035,7 +15314,7 @@
       "DisplayName": "Servo channels",
       "User": "Advanced"
     },
-    "CAN_D1_PC_SRV_RT": {
+    "CAN_D2_PC_SRV_RT": {
       "Description": "Output rate of servo command messages",
       "DisplayName": "Servo command output rate",
       "Range": {
@@ -16046,8 +15325,8 @@
       "User": "Advanced"
     }
   },
-  "CAN_D1_UC_": {
-    "CAN_D1_UC_ESC_BM": {
+  "CAN_D2_UC_": {
+    "CAN_D2_UC_ESC_BM": {
       "Bitmask": {
         "0": "ESC 1",
         "1": "ESC 2",
@@ -16086,7 +15365,7 @@
       "DisplayName": "Output channels to be transmitted as ESC over DroneCAN",
       "User": "Advanced"
     },
-    "CAN_D1_UC_ESC_OF": {
+    "CAN_D2_UC_ESC_OF": {
       "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth",
       "DisplayName": "ESC Output channels offset",
       "Range": {
@@ -16095,7 +15374,7 @@
       },
       "User": "Advanced"
     },
-    "CAN_D1_UC_ESC_RV": {
+    "CAN_D2_UC_ESC_RV": {
       "Bitmask": {
         "0": "ESC 1",
         "1": "ESC 2",
@@ -16134,7 +15413,7 @@
       "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.",
       "User": "Advanced"
     },
-    "CAN_D1_UC_NODE": {
+    "CAN_D2_UC_NODE": {
       "Description": "DroneCAN node should be set implicitly",
       "DisplayName": "DroneCAN node that is used for this network",
       "Range": {
@@ -16143,7 +15422,7 @@
       },
       "User": "Advanced"
     },
-    "CAN_D1_UC_NTF_RT": {
+    "CAN_D2_UC_NTF_RT": {
       "Description": "Maximum transmit rate for Notify State Message",
       "DisplayName": "Notify State rate",
       "Range": {
@@ -16153,7 +15432,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "CAN_D1_UC_OPTION": {
+    "CAN_D2_UC_OPTION": {
       "Bitmask": {
         "0": "ClearDNADatabase",
         "1": "IgnoreDNANodeConflicts",
@@ -16169,7 +15448,7 @@
       "DisplayName": "DroneCAN options",
       "User": "Advanced"
     },
-    "CAN_D1_UC_POOL": {
+    "CAN_D2_UC_POOL": {
       "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads",
       "DisplayName": "CAN pool size",
       "Range": {
@@ -16178,7 +15457,7 @@
       },
       "User": "Advanced"
     },
-    "CAN_D1_UC_RLY_RT": {
+    "CAN_D2_UC_RLY_RT": {
       "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state",
       "DisplayName": "DroneCAN relay output rate",
       "Range": {
@@ -16188,7 +15467,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "CAN_D1_UC_S1_BD": {
+    "CAN_D2_UC_S1_BD": {
       "Description": "Serial baud rate on remote CAN node",
       "DisplayName": "DroneCAN Serial default baud rate",
       "RebootRequired": "True",
@@ -16212,7 +15491,7 @@
         "921": "921600"
       }
     },
-    "CAN_D1_UC_S1_IDX": {
+    "CAN_D2_UC_S1_IDX": {
       "Description": "Serial port number on remote CAN node",
       "DisplayName": "DroneCAN Serial1 index",
       "Range": {
@@ -16232,7 +15511,7 @@
         "6": "Serial6"
       }
     },
-    "CAN_D1_UC_S1_NOD": {
+    "CAN_D2_UC_S1_NOD": {
       "Description": "CAN remote node number for serial port",
       "DisplayName": "Serial CAN remote node number",
       "Range": {
@@ -16242,7 +15521,7 @@
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "CAN_D1_UC_S1_PRO": {
+    "CAN_D2_UC_S1_PRO": {
       "Description": "Serial protocol of DroneCAN serial port",
       "DisplayName": "Serial protocol of DroneCAN serial port",
       "RebootRequired": "True",
@@ -16295,7 +15574,7 @@
         "9": "Rangefinder"
       }
     },
-    "CAN_D1_UC_S2_BD": {
+    "CAN_D2_UC_S2_BD": {
       "Description": "Serial baud rate on remote CAN node",
       "DisplayName": "DroneCAN Serial default baud rate",
       "RebootRequired": "True",
@@ -16319,7 +15598,7 @@
         "921": "921600"
       }
     },
-    "CAN_D1_UC_S2_IDX": {
+    "CAN_D2_UC_S2_IDX": {
       "Description": "Serial port number on remote CAN node",
       "DisplayName": "Serial port number on remote CAN node",
       "Range": {
@@ -16339,7 +15618,7 @@
         "6": "Serial6"
       }
     },
-    "CAN_D1_UC_S2_NOD": {
+    "CAN_D2_UC_S2_NOD": {
       "Description": "CAN remote node number for serial port",
       "DisplayName": "Serial CAN remote node number",
       "Range": {
@@ -16349,7 +15628,7 @@
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "CAN_D1_UC_S2_PRO": {
+    "CAN_D2_UC_S2_PRO": {
       "Description": "Serial protocol of DroneCAN serial port",
       "DisplayName": "Serial protocol of DroneCAN serial port",
       "RebootRequired": "True",
@@ -16402,7 +15681,7 @@
         "9": "Rangefinder"
       }
     },
-    "CAN_D1_UC_S3_BD": {
+    "CAN_D2_UC_S3_BD": {
       "Description": "Serial baud rate on remote CAN node",
       "DisplayName": "Serial baud rate on remote CAN node",
       "RebootRequired": "True",
@@ -16426,7 +15705,7 @@
         "921": "921600"
       }
     },
-    "CAN_D1_UC_S3_IDX": {
+    "CAN_D2_UC_S3_IDX": {
       "Description": "Serial port number on remote CAN node",
       "DisplayName": "Serial port number on remote CAN node",
       "Range": {
@@ -16446,7 +15725,7 @@
         "6": "Serial6"
       }
     },
-    "CAN_D1_UC_S3_NOD": {
+    "CAN_D2_UC_S3_NOD": {
       "Description": "CAN node number for serial port",
       "DisplayName": "Serial CAN remote node number",
       "Range": {
@@ -16456,7 +15735,7 @@
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "CAN_D1_UC_S3_PRO": {
+    "CAN_D2_UC_S3_PRO": {
       "Description": "Serial protocol of DroneCAN serial port",
       "DisplayName": "Serial protocol of DroneCAN serial port",
       "RebootRequired": "True",
@@ -16509,7 +15788,7 @@
         "9": "Rangefinder"
       }
     },
-    "CAN_D1_UC_SER_EN": {
+    "CAN_D2_UC_SER_EN": {
       "Description": "Enable DroneCAN virtual serial ports",
       "DisplayName": "DroneCAN Serial enable",
       "RebootRequired": "True",
@@ -16519,7 +15798,7 @@
         "1": "Enabled"
       }
     },
-    "CAN_D1_UC_SRV_BM": {
+    "CAN_D2_UC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
         "1": "Servo 2",
@@ -16557,7 +15836,7 @@
       "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN",
       "DisplayName": "Output channels to be transmitted as servo over DroneCAN"
     },
-    "CAN_D1_UC_SRV_RT": {
+    "CAN_D2_UC_SRV_RT": {
       "Description": "Maximum transmit rate for servo outputs",
       "DisplayName": "Servo output rate",
       "Range": {
@@ -16568,8 +15847,8 @@
       "User": "Advanced"
     }
   },
-  "CAN_D2_": {
-    "CAN_D2_PROTOCOL": {
+  "CAN_D3_": {
+    "CAN_D3_PROTOCOL": {
       "Description": "Enabling this option starts selected protocol that will use this virtual driver",
       "DisplayName": "Enable use of specific protocol over virtual driver",
       "RebootRequired": "True",
@@ -16588,7 +15867,7 @@
         "8": "KDECAN"
       }
     },
-    "CAN_D2_PROTOCOL2": {
+    "CAN_D3_PROTOCOL2": {
       "Description": "Secondary protocol with 11 bit CAN addressing",
       "DisplayName": "Secondary protocol with 11 bit CAN addressing",
       "RebootRequired": "True",
@@ -16604,8 +15883,8 @@
       }
     }
   },
-  "CAN_D2_PC_": {
-    "CAN_D2_PC_ECU_ID": {
+  "CAN_D3_PC_": {
+    "CAN_D3_PC_ECU_ID": {
       "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.",
       "DisplayName": "ECU Node ID",
       "Range": {
@@ -16614,7 +15893,7 @@
       },
       "User": "Advanced"
     },
-    "CAN_D2_PC_ECU_RT": {
+    "CAN_D3_PC_ECU_RT": {
       "Description": "Output rate of ECU command messages",
       "DisplayName": "ECU command output rate",
       "Range": {
@@ -16624,7 +15903,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "CAN_D2_PC_ESC_BM": {
+    "CAN_D3_PC_ESC_BM": {
       "Bitmask": {
         "0": "ESC 1",
         "1": "ESC 2",
@@ -16663,7 +15942,7 @@
       "DisplayName": "ESC channels",
       "User": "Advanced"
     },
-    "CAN_D2_PC_ESC_RT": {
+    "CAN_D3_PC_ESC_RT": {
       "Description": "Output rate of ESC command messages",
       "DisplayName": "ESC output rate",
       "Range": {
@@ -16673,7 +15952,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "CAN_D2_PC_SRV_BM": {
+    "CAN_D3_PC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
         "1": "Servo 2",
@@ -16696,7 +15975,7 @@
       "DisplayName": "Servo channels",
       "User": "Advanced"
     },
-    "CAN_D2_PC_SRV_RT": {
+    "CAN_D3_PC_SRV_RT": {
       "Description": "Output rate of servo command messages",
       "DisplayName": "Servo command output rate",
       "Range": {
@@ -16707,8 +15986,8 @@
       "User": "Advanced"
     }
   },
-  "CAN_D2_UC_": {
-    "CAN_D2_UC_ESC_BM": {
+  "CAN_D3_UC_": {
+    "CAN_D3_UC_ESC_BM": {
       "Bitmask": {
         "0": "ESC 1",
         "1": "ESC 2",
@@ -16747,7 +16026,7 @@
       "DisplayName": "Output channels to be transmitted as ESC over DroneCAN",
       "User": "Advanced"
     },
-    "CAN_D2_UC_ESC_OF": {
+    "CAN_D3_UC_ESC_OF": {
       "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth",
       "DisplayName": "ESC Output channels offset",
       "Range": {
@@ -16756,7 +16035,7 @@
       },
       "User": "Advanced"
     },
-    "CAN_D2_UC_ESC_RV": {
+    "CAN_D3_UC_ESC_RV": {
       "Bitmask": {
         "0": "ESC 1",
         "1": "ESC 2",
@@ -16795,7 +16074,7 @@
       "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.",
       "User": "Advanced"
     },
-    "CAN_D2_UC_NODE": {
+    "CAN_D3_UC_NODE": {
       "Description": "DroneCAN node should be set implicitly",
       "DisplayName": "DroneCAN node that is used for this network",
       "Range": {
@@ -16804,7 +16083,7 @@
       },
       "User": "Advanced"
     },
-    "CAN_D2_UC_NTF_RT": {
+    "CAN_D3_UC_NTF_RT": {
       "Description": "Maximum transmit rate for Notify State Message",
       "DisplayName": "Notify State rate",
       "Range": {
@@ -16814,7 +16093,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "CAN_D2_UC_OPTION": {
+    "CAN_D3_UC_OPTION": {
       "Bitmask": {
         "0": "ClearDNADatabase",
         "1": "IgnoreDNANodeConflicts",
@@ -16830,7 +16109,7 @@
       "DisplayName": "DroneCAN options",
       "User": "Advanced"
     },
-    "CAN_D2_UC_POOL": {
+    "CAN_D3_UC_POOL": {
       "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads",
       "DisplayName": "CAN pool size",
       "Range": {
@@ -16839,7 +16118,7 @@
       },
       "User": "Advanced"
     },
-    "CAN_D2_UC_RLY_RT": {
+    "CAN_D3_UC_RLY_RT": {
       "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state",
       "DisplayName": "DroneCAN relay output rate",
       "Range": {
@@ -16849,7 +16128,7 @@
       "Units": "Hz",
       "User": "Advanced"
     },
-    "CAN_D2_UC_S1_BD": {
+    "CAN_D3_UC_S1_BD": {
       "Description": "Serial baud rate on remote CAN node",
       "DisplayName": "DroneCAN Serial default baud rate",
       "RebootRequired": "True",
@@ -16873,7 +16152,7 @@
         "921": "921600"
       }
     },
-    "CAN_D2_UC_S1_IDX": {
+    "CAN_D3_UC_S1_IDX": {
       "Description": "Serial port number on remote CAN node",
       "DisplayName": "DroneCAN Serial1 index",
       "Range": {
@@ -16893,7 +16172,7 @@
         "6": "Serial6"
       }
     },
-    "CAN_D2_UC_S1_NOD": {
+    "CAN_D3_UC_S1_NOD": {
       "Description": "CAN remote node number for serial port",
       "DisplayName": "Serial CAN remote node number",
       "Range": {
@@ -16903,7 +16182,7 @@
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "CAN_D2_UC_S1_PRO": {
+    "CAN_D3_UC_S1_PRO": {
       "Description": "Serial protocol of DroneCAN serial port",
       "DisplayName": "Serial protocol of DroneCAN serial port",
       "RebootRequired": "True",
@@ -16956,7 +16235,7 @@
         "9": "Rangefinder"
       }
     },
-    "CAN_D2_UC_S2_BD": {
+    "CAN_D3_UC_S2_BD": {
       "Description": "Serial baud rate on remote CAN node",
       "DisplayName": "DroneCAN Serial default baud rate",
       "RebootRequired": "True",
@@ -16980,7 +16259,7 @@
         "921": "921600"
       }
     },
-    "CAN_D2_UC_S2_IDX": {
+    "CAN_D3_UC_S2_IDX": {
       "Description": "Serial port number on remote CAN node",
       "DisplayName": "Serial port number on remote CAN node",
       "Range": {
@@ -17000,7 +16279,7 @@
         "6": "Serial6"
       }
     },
-    "CAN_D2_UC_S2_NOD": {
+    "CAN_D3_UC_S2_NOD": {
       "Description": "CAN remote node number for serial port",
       "DisplayName": "Serial CAN remote node number",
       "Range": {
@@ -17010,7 +16289,7 @@
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "CAN_D2_UC_S2_PRO": {
+    "CAN_D3_UC_S2_PRO": {
       "Description": "Serial protocol of DroneCAN serial port",
       "DisplayName": "Serial protocol of DroneCAN serial port",
       "RebootRequired": "True",
@@ -17063,7 +16342,7 @@
         "9": "Rangefinder"
       }
     },
-    "CAN_D2_UC_S3_BD": {
+    "CAN_D3_UC_S3_BD": {
       "Description": "Serial baud rate on remote CAN node",
       "DisplayName": "Serial baud rate on remote CAN node",
       "RebootRequired": "True",
@@ -17087,7 +16366,7 @@
         "921": "921600"
       }
     },
-    "CAN_D2_UC_S3_IDX": {
+    "CAN_D3_UC_S3_IDX": {
       "Description": "Serial port number on remote CAN node",
       "DisplayName": "Serial port number on remote CAN node",
       "Range": {
@@ -17107,7 +16386,7 @@
         "6": "Serial6"
       }
     },
-    "CAN_D2_UC_S3_NOD": {
+    "CAN_D3_UC_S3_NOD": {
       "Description": "CAN node number for serial port",
       "DisplayName": "Serial CAN remote node number",
       "Range": {
@@ -17117,7 +16396,7 @@
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "CAN_D2_UC_S3_PRO": {
+    "CAN_D3_UC_S3_PRO": {
       "Description": "Serial protocol of DroneCAN serial port",
       "DisplayName": "Serial protocol of DroneCAN serial port",
       "RebootRequired": "True",
@@ -17170,7 +16449,7 @@
         "9": "Rangefinder"
       }
     },
-    "CAN_D2_UC_SER_EN": {
+    "CAN_D3_UC_SER_EN": {
       "Description": "Enable DroneCAN virtual serial ports",
       "DisplayName": "DroneCAN Serial enable",
       "RebootRequired": "True",
@@ -17180,7 +16459,7 @@
         "1": "Enabled"
       }
     },
-    "CAN_D2_UC_SRV_BM": {
+    "CAN_D3_UC_SRV_BM": {
       "Bitmask": {
         "0": "Servo 1",
         "1": "Servo 2",
@@ -17215,2047 +16494,1981 @@
         "8": "Servo 9",
         "9": "Servo 10"
       },
-      "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN",
-      "DisplayName": "Output channels to be transmitted as servo over DroneCAN"
+      "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN",
+      "DisplayName": "Output channels to be transmitted as servo over DroneCAN"
+    },
+    "CAN_D3_UC_SRV_RT": {
+      "Description": "Maximum transmit rate for servo outputs",
+      "DisplayName": "Servo output rate",
+      "Range": {
+        "high": "200",
+        "low": "1"
+      },
+      "Units": "Hz",
+      "User": "Advanced"
+    }
+  },
+  "CAN_P1_": {
+    "CAN_P1_BITRATE": {
+      "Description": "Bit rate can be set up to from 10000 to 1000000",
+      "DisplayName": "Bitrate of CAN interface",
+      "Range": {
+        "high": "1000000",
+        "low": "10000"
+      },
+      "User": "Advanced"
+    },
+    "CAN_P1_DRIVER": {
+      "Description": "Enabling this option enables use of CAN buses.",
+      "DisplayName": "Index of virtual driver to be used with physical CAN interface",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "First driver",
+        "2": "Second driver",
+        "3": "Third driver"
+      }
+    },
+    "CAN_P1_FDBITRATE": {
+      "Description": "Bit rate can be set up to from 1000000 to 8000000",
+      "DisplayName": "Bitrate of CANFD interface",
+      "User": "Advanced",
+      "Values": {
+        "1": "1M",
+        "2": "2M",
+        "4": "4M",
+        "5": "5M",
+        "8": "8M"
+      }
+    }
+  },
+  "CAN_P2_": {
+    "CAN_P2_BITRATE": {
+      "Description": "Bit rate can be set up to from 10000 to 1000000",
+      "DisplayName": "Bitrate of CAN interface",
+      "Range": {
+        "high": "1000000",
+        "low": "10000"
+      },
+      "User": "Advanced"
+    },
+    "CAN_P2_DRIVER": {
+      "Description": "Enabling this option enables use of CAN buses.",
+      "DisplayName": "Index of virtual driver to be used with physical CAN interface",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "First driver",
+        "2": "Second driver",
+        "3": "Third driver"
+      }
+    },
+    "CAN_P2_FDBITRATE": {
+      "Description": "Bit rate can be set up to from 1000000 to 8000000",
+      "DisplayName": "Bitrate of CANFD interface",
+      "User": "Advanced",
+      "Values": {
+        "1": "1M",
+        "2": "2M",
+        "4": "4M",
+        "5": "5M",
+        "8": "8M"
+      }
+    }
+  },
+  "CAN_P3_": {
+    "CAN_P3_BITRATE": {
+      "Description": "Bit rate can be set up to from 10000 to 1000000",
+      "DisplayName": "Bitrate of CAN interface",
+      "Range": {
+        "high": "1000000",
+        "low": "10000"
+      },
+      "User": "Advanced"
+    },
+    "CAN_P3_DRIVER": {
+      "Description": "Enabling this option enables use of CAN buses.",
+      "DisplayName": "Index of virtual driver to be used with physical CAN interface",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "First driver",
+        "2": "Second driver",
+        "3": "Third driver"
+      }
+    },
+    "CAN_P3_FDBITRATE": {
+      "Description": "Bit rate can be set up to from 1000000 to 8000000",
+      "DisplayName": "Bitrate of CANFD interface",
+      "User": "Advanced",
+      "Values": {
+        "1": "1M",
+        "2": "2M",
+        "4": "4M",
+        "5": "5M",
+        "8": "8M"
+      }
+    }
+  },
+  "CAN_SLCAN_": {
+    "CAN_SLCAN_CPORT": {
+      "Description": "CAN Interface ID to be routed to SLCAN, 0 means no routing",
+      "DisplayName": "SLCAN Route",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "First interface",
+        "2": "Second interface"
+      }
+    },
+    "CAN_SLCAN_SDELAY": {
+      "Description": "Duration after which slcan starts after setting SERNUM in seconds.",
+      "DisplayName": "SLCAN Start Delay",
+      "Range": {
+        "high": "127",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "CAN_SLCAN_SERNUM": {
+      "Description": "Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details",
+      "DisplayName": "SLCAN Serial Port",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "0": "Serial0",
+        "1": "Serial1",
+        "2": "Serial2",
+        "3": "Serial3",
+        "4": "Serial4",
+        "5": "Serial5",
+        "6": "Serial6"
+      }
+    },
+    "CAN_SLCAN_TIMOUT": {
+      "Description": "Duration of inactivity after which SLCAN is switched back to original driver in seconds.",
+      "DisplayName": "SLCAN Timeout",
+      "Range": {
+        "high": "127",
+        "low": "0"
+      },
+      "User": "Standard"
+    }
+  },
+  "CIRCLE_": {
+    "CIRCLE_OPTIONS": {
+      "Bitmask": {
+        "0": "manual control",
+        "1": "face direction of travel",
+        "2": "Start at center rather than on perimeter",
+        "3": "Make Mount ROI the center of the circle"
+      },
+      "Description": "0:Enable or disable using the pitch/roll stick control circle mode's radius and rate",
+      "DisplayName": "Circle options",
+      "User": "Standard"
     },
-    "CAN_D2_UC_SRV_RT": {
-      "Description": "Maximum transmit rate for servo outputs",
-      "DisplayName": "Servo output rate",
+    "CIRCLE_RADIUS": {
+      "Description": "Defines the radius of the circle the vehicle will fly when in Circle flight mode",
+      "DisplayName": "Circle Radius",
+      "Increment": "100",
       "Range": {
-        "high": "200",
-        "low": "1"
+        "high": "200000",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Advanced"
+      "Units": "cm",
+      "User": "Standard"
+    },
+    "CIRCLE_RATE": {
+      "Description": "Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise. Circle rate must be less than ATC_SLEW_YAW parameter.",
+      "DisplayName": "Circle rate",
+      "Increment": "1",
+      "Range": {
+        "high": "90",
+        "low": "-90"
+      },
+      "Units": "deg/s",
+      "User": "Standard"
     }
   },
-  "CAN_D3_": {
-    "CAN_D3_PROTOCOL": {
-      "Description": "Enabling this option starts selected protocol that will use this virtual driver",
-      "DisplayName": "Enable use of specific protocol over virtual driver",
-      "RebootRequired": "True",
+  "COMPASS_": {
+    "COMPASS_AUTODEC": {
+      "Description": "Enable or disable the automatic calculation of the declination based on gps location",
+      "DisplayName": "Auto Declination",
       "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "DroneCAN",
-        "10": "Scripting",
-        "11": "Benewake",
-        "12": "Scripting2",
-        "13": "TOFSenseP",
-        "14": "NanoRadar_NRA24",
-        "4": "PiccoloCAN",
-        "6": "EFI_NWPMU",
-        "7": "USD1",
-        "8": "KDECAN"
+        "1": "Enabled"
       }
     },
-    "CAN_D3_PROTOCOL2": {
-      "Description": "Secondary protocol with 11 bit CAN addressing",
-      "DisplayName": "Secondary protocol with 11 bit CAN addressing",
-      "RebootRequired": "True",
-      "User": "Advanced",
+    "COMPASS_AUTO_ROT": {
+      "Description": "When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.",
+      "DisplayName": "Automatically check orientation",
       "Values": {
         "0": "Disabled",
-        "10": "Scripting",
-        "11": "Benewake",
-        "12": "Scripting2",
-        "13": "TOFSenseP",
-        "14": "NanoRadar_NRA24",
-        "7": "USD1"
+        "1": "CheckOnly",
+        "2": "CheckAndFix",
+        "3": "use same tolerance to auto rotate 45 deg rotations"
       }
-    }
-  },
-  "CAN_D3_PC_": {
-    "CAN_D3_PC_ECU_ID": {
-      "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.",
-      "DisplayName": "ECU Node ID",
+    },
+    "COMPASS_CAL_FIT": {
+      "Description": "This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.",
+      "DisplayName": "Compass calibration fitness",
+      "Increment": "0.1",
       "Range": {
-        "high": "255",
-        "low": "0"
+        "high": "32",
+        "low": "4"
+      },
+      "User": "Advanced",
+      "Values": {
+        "16": "Default",
+        "32": "Relaxed",
+        "4": "Very Strict",
+        "8": "Strict"
+      }
+    },
+    "COMPASS_CUS_PIT": {
+      "Description": "Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.",
+      "DisplayName": "Custom orientation pitch offset",
+      "Increment": "1",
+      "Range": {
+        "high": "180",
+        "low": "-180"
       },
+      "RebootRequired": "True",
+      "Units": "deg",
       "User": "Advanced"
     },
-    "CAN_D3_PC_ECU_RT": {
-      "Description": "Output rate of ECU command messages",
-      "DisplayName": "ECU command output rate",
+    "COMPASS_CUS_ROLL": {
+      "Description": "Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.",
+      "DisplayName": "Custom orientation roll offset",
+      "Increment": "1",
       "Range": {
-        "high": "500",
-        "low": "1"
+        "high": "180",
+        "low": "-180"
       },
-      "Units": "Hz",
+      "RebootRequired": "True",
+      "Units": "deg",
       "User": "Advanced"
     },
-    "CAN_D3_PC_ESC_BM": {
-      "Bitmask": {
-        "0": "ESC 1",
-        "1": "ESC 2",
-        "10": "ESC 11",
-        "11": "ESC 12",
-        "12": "ESC 13",
-        "13": "ESC 14",
-        "14": "ESC 15",
-        "15": "ESC 16",
-        "16": "ESC 17",
-        "17": "ESC 18",
-        "18": "ESC 19",
-        "19": "ESC 20",
-        "2": "ESC 3",
-        "20": "ESC 21",
-        "21": "ESC 22",
-        "22": "ESC 23",
-        "23": "ESC 24",
-        "24": "ESC 25",
-        "25": "ESC 26",
-        "26": "ESC 27",
-        "27": "ESC 28",
-        "28": "ESC 29",
-        "29": "ESC 30",
-        "3": "ESC 4",
-        "30": "ESC 31",
-        "31": "ESC 32",
-        "4": "ESC 5",
-        "5": "ESC 6",
-        "6": "ESC 7",
-        "7": "ESC 8",
-        "8": "ESC 9",
-        "9": "ESC 10"
+    "COMPASS_CUS_YAW": {
+      "Description": "Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.",
+      "DisplayName": "Custom orientation yaw offset",
+      "Increment": "1",
+      "Range": {
+        "high": "180",
+        "low": "-180"
       },
-      "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN",
-      "DisplayName": "ESC channels",
+      "RebootRequired": "True",
+      "Units": "deg",
+      "User": "Advanced"
+    },
+    "COMPASS_DEC": {
+      "Description": "An angle to compensate between the true north and magnetic north",
+      "DisplayName": "Compass declination",
+      "Increment": "0.01",
+      "Range": {
+        "high": "3.142",
+        "low": "-3.142"
+      },
+      "Units": "rad",
+      "User": "Standard"
+    },
+    "COMPASS_DEV_ID": {
+      "Description": "Compass device id.  Automatically detected, do not set manually",
+      "DisplayName": "Compass device id",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "COMPASS_DEV_ID2": {
+      "Description": "Second compass's device id.  Automatically detected, do not set manually",
+      "DisplayName": "Compass2 device id",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "COMPASS_DEV_ID3": {
+      "Description": "Third compass's device id.  Automatically detected, do not set manually",
+      "DisplayName": "Compass3 device id",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "COMPASS_DEV_ID4": {
+      "Description": "Extra 4th compass's device id.  Automatically detected, do not set manually",
+      "DisplayName": "Compass4 device id",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "COMPASS_DEV_ID5": {
+      "Description": "Extra 5th compass's device id.  Automatically detected, do not set manually",
+      "DisplayName": "Compass5 device id",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "COMPASS_DEV_ID6": {
+      "Description": "Extra 6th compass's device id.  Automatically detected, do not set manually",
+      "DisplayName": "Compass6 device id",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "COMPASS_DEV_ID7": {
+      "Description": "Extra 7th compass's device id.  Automatically detected, do not set manually",
+      "DisplayName": "Compass7 device id",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "COMPASS_DEV_ID8": {
+      "Description": "Extra 8th compass's device id.  Automatically detected, do not set manually",
+      "DisplayName": "Compass8 device id",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "COMPASS_DIA2_X": {
+      "Calibration": "1",
+      "Description": "DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass2 soft-iron diagonal X component",
+      "User": "Advanced"
+    },
+    "COMPASS_DIA2_Y": {
+      "Calibration": "1",
+      "Description": "DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass2 soft-iron diagonal Y component",
       "User": "Advanced"
     },
-    "CAN_D3_PC_ESC_RT": {
-      "Description": "Output rate of ESC command messages",
-      "DisplayName": "ESC output rate",
-      "Range": {
-        "high": "500",
-        "low": "1"
-      },
-      "Units": "Hz",
+    "COMPASS_DIA2_Z": {
+      "Description": "DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass2 soft-iron diagonal Z component",
       "User": "Advanced"
     },
-    "CAN_D3_PC_SRV_BM": {
-      "Bitmask": {
-        "0": "Servo 1",
-        "1": "Servo 2",
-        "10": "Servo 11",
-        "11": "Servo 12",
-        "12": "Servo 13",
-        "13": "Servo 14",
-        "14": "Servo 15",
-        "15": "Servo 16",
-        "2": "Servo 3",
-        "3": "Servo 4",
-        "4": "Servo 5",
-        "5": "Servo 6",
-        "6": "Servo 7",
-        "7": "Servo 8",
-        "8": "Servo 9",
-        "9": "Servo 10"
-      },
-      "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN",
-      "DisplayName": "Servo channels",
+    "COMPASS_DIA3_X": {
+      "Calibration": "1",
+      "Description": "DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass3 soft-iron diagonal X component",
       "User": "Advanced"
     },
-    "CAN_D3_PC_SRV_RT": {
-      "Description": "Output rate of servo command messages",
-      "DisplayName": "Servo command output rate",
-      "Range": {
-        "high": "500",
-        "low": "1"
-      },
-      "Units": "Hz",
+    "COMPASS_DIA3_Y": {
+      "Calibration": "1",
+      "Description": "DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass3 soft-iron diagonal Y component",
       "User": "Advanced"
-    }
-  },
-  "CAN_D3_UC_": {
-    "CAN_D3_UC_ESC_BM": {
+    },
+    "COMPASS_DIA3_Z": {
+      "Description": "DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass3 soft-iron diagonal Z component",
+      "User": "Advanced"
+    },
+    "COMPASS_DIA_X": {
+      "Calibration": "1",
+      "Description": "DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass soft-iron diagonal X component",
+      "User": "Advanced"
+    },
+    "COMPASS_DIA_Y": {
+      "Calibration": "1",
+      "Description": "DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass soft-iron diagonal Y component",
+      "User": "Advanced"
+    },
+    "COMPASS_DIA_Z": {
+      "Description": "DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass soft-iron diagonal Z component",
+      "User": "Advanced"
+    },
+    "COMPASS_DISBLMSK": {
       "Bitmask": {
-        "0": "ESC 1",
-        "1": "ESC 2",
-        "10": "ESC 11",
-        "11": "ESC 12",
-        "12": "ESC 13",
-        "13": "ESC 14",
-        "14": "ESC 15",
-        "15": "ESC 16",
-        "16": "ESC 17",
-        "17": "ESC 18",
-        "18": "ESC 19",
-        "19": "ESC 20",
-        "2": "ESC 3",
-        "20": "ESC 21",
-        "21": "ESC 22",
-        "22": "ESC 23",
-        "23": "ESC 24",
-        "24": "ESC 25",
-        "25": "ESC 26",
-        "26": "ESC 27",
-        "27": "ESC 28",
-        "28": "ESC 29",
-        "29": "ESC 30",
-        "3": "ESC 4",
-        "30": "ESC 31",
-        "31": "ESC 32",
-        "4": "ESC 5",
-        "5": "ESC 6",
-        "6": "ESC 7",
-        "7": "ESC 8",
-        "8": "ESC 9",
-        "9": "ESC 10"
+        "0": "HMC5883",
+        "1": "LSM303D",
+        "11": "DroneCAN",
+        "12": "QMC5883",
+        "14": "MAG3110",
+        "15": "IST8308",
+        "16": "RM3100",
+        "17": "MSP",
+        "18": "ExternalAHRS",
+        "2": "AK8963",
+        "3": "BMM150",
+        "4": "LSM9DS1",
+        "5": "LIS3MDL",
+        "6": "AK09916",
+        "7": "IST8310",
+        "8": "ICM20948",
+        "9": "MMC3416"
       },
-      "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN",
-      "DisplayName": "Output channels to be transmitted as ESC over DroneCAN",
+      "Description": "This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup",
+      "DisplayName": "Compass disable driver type mask",
       "User": "Advanced"
     },
-    "CAN_D3_UC_ESC_OF": {
-      "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth",
-      "DisplayName": "ESC Output channels offset",
+    "COMPASS_ENABLE": {
+      "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.",
+      "DisplayName": "Enable Compass",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
+    },
+    "COMPASS_EXTERN2": {
+      "Description": "Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.",
+      "DisplayName": "Compass2 is attached via an external cable",
+      "User": "Advanced",
+      "Values": {
+        "0": "Internal",
+        "1": "External",
+        "2": "ForcedExternal"
+      }
+    },
+    "COMPASS_EXTERN3": {
+      "Description": "Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.",
+      "DisplayName": "Compass3 is attached via an external cable",
+      "User": "Advanced",
+      "Values": {
+        "0": "Internal",
+        "1": "External",
+        "2": "ForcedExternal"
+      }
+    },
+    "COMPASS_EXTERNAL": {
+      "Description": "Configure compass so it is attached externally. This is auto-detected on most boards. 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. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.",
+      "DisplayName": "Compass is attached via an external cable",
+      "User": "Advanced",
+      "Values": {
+        "0": "Internal",
+        "1": "External",
+        "2": "ForcedExternal"
+      }
+    },
+    "COMPASS_FLTR_RNG": {
+      "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.",
+      "DisplayName": "Range in which sample is accepted",
+      "Increment": "1",
       "Range": {
-        "high": "18",
+        "high": "100",
         "low": "0"
       },
-      "User": "Advanced"
+      "Units": "%"
     },
-    "CAN_D3_UC_ESC_RV": {
-      "Bitmask": {
-        "0": "ESC 1",
-        "1": "ESC 2",
-        "10": "ESC 11",
-        "11": "ESC 12",
-        "12": "ESC 13",
-        "13": "ESC 14",
-        "14": "ESC 15",
-        "15": "ESC 16",
-        "16": "ESC 17",
-        "17": "ESC 18",
-        "18": "ESC 19",
-        "19": "ESC 20",
-        "2": "ESC 3",
-        "20": "ESC 21",
-        "21": "ESC 22",
-        "22": "ESC 23",
-        "23": "ESC 24",
-        "24": "ESC 25",
-        "25": "ESC 26",
-        "26": "ESC 27",
-        "27": "ESC 28",
-        "28": "ESC 29",
-        "29": "ESC 30",
-        "3": "ESC 4",
-        "30": "ESC 31",
-        "31": "ESC 32",
-        "4": "ESC 5",
-        "5": "ESC 6",
-        "6": "ESC 7",
-        "7": "ESC 8",
-        "8": "ESC 9",
-        "9": "ESC 10"
+    "COMPASS_LEARN": {
+      "Description": "Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.",
+      "DisplayName": "Learn compass offsets automatically",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Internal-Learning",
+        "2": "EKF-Learning",
+        "3": "InFlight-Learning"
+      }
+    },
+    "COMPASS_MOT2_X": {
+      "Calibration": "1",
+      "Description": "Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
+      "DisplayName": "Motor interference compensation to compass2 for body frame X axis",
+      "Increment": "1",
+      "Range": {
+        "high": "1000",
+        "low": "-1000"
       },
-      "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.",
-      "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.",
+      "Units": "mGauss/A",
       "User": "Advanced"
     },
-    "CAN_D3_UC_NODE": {
-      "Description": "DroneCAN node should be set implicitly",
-      "DisplayName": "DroneCAN node that is used for this network",
+    "COMPASS_MOT2_Y": {
+      "Calibration": "1",
+      "Description": "Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
+      "DisplayName": "Motor interference compensation to compass2 for body frame Y axis",
+      "Increment": "1",
       "Range": {
-        "high": "250",
-        "low": "1"
+        "high": "1000",
+        "low": "-1000"
       },
+      "Units": "mGauss/A",
       "User": "Advanced"
     },
-    "CAN_D3_UC_NTF_RT": {
-      "Description": "Maximum transmit rate for Notify State Message",
-      "DisplayName": "Notify State rate",
+    "COMPASS_MOT2_Z": {
+      "Description": "Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
+      "DisplayName": "Motor interference compensation to compass2 for body frame Z axis",
+      "Increment": "1",
       "Range": {
-        "high": "200",
-        "low": "1"
+        "high": "1000",
+        "low": "-1000"
       },
-      "Units": "Hz",
+      "Units": "mGauss/A",
       "User": "Advanced"
     },
-    "CAN_D3_UC_OPTION": {
-      "Bitmask": {
-        "0": "ClearDNADatabase",
-        "1": "IgnoreDNANodeConflicts",
-        "2": "EnableCanfd",
-        "3": "IgnoreDNANodeUnhealthy",
-        "4": "SendServoAsPWM",
-        "5": "SendGNSS",
-        "6": "UseHimarkServo",
-        "7": "HobbyWingESC",
-        "8": "EnableStats"
+    "COMPASS_MOT3_X": {
+      "Calibration": "1",
+      "Description": "Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
+      "DisplayName": "Motor interference compensation to compass3 for body frame X axis",
+      "Increment": "1",
+      "Range": {
+        "high": "1000",
+        "low": "-1000"
       },
-      "Description": "Option flags",
-      "DisplayName": "DroneCAN options",
+      "Units": "mGauss/A",
       "User": "Advanced"
     },
-    "CAN_D3_UC_POOL": {
-      "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads",
-      "DisplayName": "CAN pool size",
+    "COMPASS_MOT3_Y": {
+      "Calibration": "1",
+      "Description": "Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
+      "DisplayName": "Motor interference compensation to compass3 for body frame Y axis",
+      "Increment": "1",
       "Range": {
-        "high": "16384",
-        "low": "1024"
+        "high": "1000",
+        "low": "-1000"
       },
+      "Units": "mGauss/A",
       "User": "Advanced"
     },
-    "CAN_D3_UC_RLY_RT": {
-      "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state",
-      "DisplayName": "DroneCAN relay output rate",
+    "COMPASS_MOT3_Z": {
+      "Description": "Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
+      "DisplayName": "Motor interference compensation to compass3 for body frame Z axis",
+      "Increment": "1",
       "Range": {
-        "high": "200",
-        "low": "0"
+        "high": "1000",
+        "low": "-1000"
       },
-      "Units": "Hz",
+      "Units": "mGauss/A",
       "User": "Advanced"
     },
-    "CAN_D3_UC_S1_BD": {
-      "Description": "Serial baud rate on remote CAN node",
-      "DisplayName": "DroneCAN Serial default baud rate",
-      "RebootRequired": "True",
+    "COMPASS_MOTCT": {
+      "Calibration": "1",
+      "Description": "Set motor interference compensation type to disabled, throttle or current.  Do not change manually.",
+      "DisplayName": "Motor interference compensation type",
       "User": "Advanced",
       "Values": {
-        "1": "1200",
-        "111": "111100",
-        "115": "115200",
-        "1500": "1500000",
-        "19": "19200",
-        "2": "2400",
-        "2000": "2000000",
-        "230": "230400",
-        "256": "256000",
-        "38": "38400",
-        "4": "4800",
-        "460": "460800",
-        "500": "500000",
-        "57": "57600",
-        "9": "9600",
-        "921": "921600"
+        "0": "Disabled",
+        "1": "Use Throttle",
+        "2": "Use Current"
       }
     },
-    "CAN_D3_UC_S1_IDX": {
-      "Description": "Serial port number on remote CAN node",
-      "DisplayName": "DroneCAN Serial1 index",
+    "COMPASS_MOT_X": {
+      "Calibration": "1",
+      "Description": "Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
+      "DisplayName": "Motor interference compensation for body frame X axis",
+      "Increment": "1",
       "Range": {
-        "high": "100",
-        "low": "0"
+        "high": "1000",
+        "low": "-1000"
       },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "-1": "Disabled",
-        "0": "Serial0",
-        "1": "Serial1",
-        "2": "Serial2",
-        "3": "Serial3",
-        "4": "Serial4",
-        "5": "Serial5",
-        "6": "Serial6"
-      }
+      "Units": "mGauss/A",
+      "User": "Advanced"
     },
-    "CAN_D3_UC_S1_NOD": {
-      "Description": "CAN remote node number for serial port",
-      "DisplayName": "Serial CAN remote node number",
+    "COMPASS_MOT_Y": {
+      "Calibration": "1",
+      "Description": "Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
+      "DisplayName": "Motor interference compensation for body frame Y axis",
+      "Increment": "1",
       "Range": {
-        "high": "127",
-        "low": "0"
+        "high": "1000",
+        "low": "-1000"
       },
-      "RebootRequired": "True",
+      "Units": "mGauss/A",
       "User": "Advanced"
     },
-    "CAN_D3_UC_S1_PRO": {
-      "Description": "Serial protocol of DroneCAN serial port",
-      "DisplayName": "Serial protocol of DroneCAN serial port",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "-1": "None",
-        "1": "MAVLink1",
-        "10": "FrSky SPort Passthrough (OpenTX)",
-        "11": "Lidar360",
-        "13": "Beacon",
-        "14": "Volz servo out",
-        "15": "SBus servo out",
-        "16": "ESC Telemetry",
-        "17": "Devo Telemetry",
-        "18": "OpticalFlow",
-        "19": "RobotisServo",
-        "2": "MAVLink2",
-        "20": "NMEA Output",
-        "21": "WindVane",
-        "22": "SLCAN",
-        "23": "RCIN",
-        "24": "EFI Serial",
-        "25": "LTM",
-        "26": "RunCam",
-        "27": "HottTelem",
-        "28": "Scripting",
-        "29": "Crossfire VTX",
-        "3": "Frsky D",
-        "30": "Generator",
-        "31": "Winch",
-        "32": "MSP",
-        "33": "DJI FPV",
-        "34": "AirSpeed",
-        "35": "ADSB",
-        "36": "AHRS",
-        "37": "SmartAudio",
-        "38": "FETtecOneWire",
-        "39": "Torqeedo",
-        "4": "Frsky SPort",
-        "40": "AIS",
-        "41": "CoDevESC",
-        "42": "DisplayPort",
-        "43": "MAVLink High Latency",
-        "44": "IRC Tramp",
-        "45": "DDS XRCE",
-        "46": "IMUDATA",
-        "5": "GPS",
-        "7": "Alexmos Gimbal Serial",
-        "8": "Gimbal",
-        "9": "Rangefinder"
-      }
+    "COMPASS_MOT_Z": {
+      "Description": "Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
+      "DisplayName": "Motor interference compensation for body frame Z axis",
+      "Increment": "1",
+      "Range": {
+        "high": "1000",
+        "low": "-1000"
+      },
+      "Units": "mGauss/A",
+      "User": "Advanced"
     },
-    "CAN_D3_UC_S2_BD": {
-      "Description": "Serial baud rate on remote CAN node",
-      "DisplayName": "DroneCAN Serial default baud rate",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "1": "1200",
-        "111": "111100",
-        "115": "115200",
-        "1500": "1500000",
-        "19": "19200",
-        "2": "2400",
-        "2000": "2000000",
-        "230": "230400",
-        "256": "256000",
-        "38": "38400",
-        "4": "4800",
-        "460": "460800",
-        "500": "500000",
-        "57": "57600",
-        "9": "9600",
-        "921": "921600"
-      }
+    "COMPASS_ODI2_X": {
+      "Calibration": "1",
+      "Description": "ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass2 soft-iron off-diagonal X component",
+      "User": "Advanced"
+    },
+    "COMPASS_ODI2_Y": {
+      "Calibration": "1",
+      "Description": "ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass2 soft-iron off-diagonal Y component",
+      "User": "Advanced"
+    },
+    "COMPASS_ODI2_Z": {
+      "Description": "ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass2 soft-iron off-diagonal Z component",
+      "User": "Advanced"
+    },
+    "COMPASS_ODI3_X": {
+      "Calibration": "1",
+      "Description": "ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass3 soft-iron off-diagonal X component",
+      "User": "Advanced"
+    },
+    "COMPASS_ODI3_Y": {
+      "Calibration": "1",
+      "Description": "ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass3 soft-iron off-diagonal Y component",
+      "User": "Advanced"
+    },
+    "COMPASS_ODI3_Z": {
+      "Description": "ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass3 soft-iron off-diagonal Z component",
+      "User": "Advanced"
+    },
+    "COMPASS_ODI_X": {
+      "Calibration": "1",
+      "Description": "ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass soft-iron off-diagonal X component",
+      "User": "Advanced"
+    },
+    "COMPASS_ODI_Y": {
+      "Calibration": "1",
+      "Description": "ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass soft-iron off-diagonal Y component",
+      "User": "Advanced"
+    },
+    "COMPASS_ODI_Z": {
+      "Description": "ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
+      "DisplayName": "Compass soft-iron off-diagonal Z component",
+      "User": "Advanced"
     },
-    "CAN_D3_UC_S2_IDX": {
-      "Description": "Serial port number on remote CAN node",
-      "DisplayName": "Serial port number on remote CAN node",
+    "COMPASS_OFFS_MAX": {
+      "Description": "This sets the maximum allowed compass offset in calibration and arming checks",
+      "DisplayName": "Compass maximum offset",
+      "Increment": "1",
       "Range": {
-        "high": "100",
-        "low": "0"
+        "high": "3000",
+        "low": "500"
       },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "-1": "Disabled",
-        "0": "Serial0",
-        "1": "Serial1",
-        "2": "Serial2",
-        "3": "Serial3",
-        "4": "Serial4",
-        "5": "Serial5",
-        "6": "Serial6"
-      }
+      "User": "Advanced"
     },
-    "CAN_D3_UC_S2_NOD": {
-      "Description": "CAN remote node number for serial port",
-      "DisplayName": "Serial CAN remote node number",
+    "COMPASS_OFS2_X": {
+      "Calibration": "1",
+      "Description": "Offset to be added to compass2's x-axis values to compensate for metal in the frame",
+      "DisplayName": "Compass2 offsets in milligauss on the X axis",
+      "Increment": "1",
       "Range": {
-        "high": "127",
-        "low": "0"
+        "high": "400",
+        "low": "-400"
       },
-      "RebootRequired": "True",
+      "Units": "mGauss",
       "User": "Advanced"
     },
-    "CAN_D3_UC_S2_PRO": {
-      "Description": "Serial protocol of DroneCAN serial port",
-      "DisplayName": "Serial protocol of DroneCAN serial port",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "-1": "None",
-        "1": "MAVLink1",
-        "10": "FrSky SPort Passthrough (OpenTX)",
-        "11": "Lidar360",
-        "13": "Beacon",
-        "14": "Volz servo out",
-        "15": "SBus servo out",
-        "16": "ESC Telemetry",
-        "17": "Devo Telemetry",
-        "18": "OpticalFlow",
-        "19": "RobotisServo",
-        "2": "MAVLink2",
-        "20": "NMEA Output",
-        "21": "WindVane",
-        "22": "SLCAN",
-        "23": "RCIN",
-        "24": "EFI Serial",
-        "25": "LTM",
-        "26": "RunCam",
-        "27": "HottTelem",
-        "28": "Scripting",
-        "29": "Crossfire VTX",
-        "3": "Frsky D",
-        "30": "Generator",
-        "31": "Winch",
-        "32": "MSP",
-        "33": "DJI FPV",
-        "34": "AirSpeed",
-        "35": "ADSB",
-        "36": "AHRS",
-        "37": "SmartAudio",
-        "38": "FETtecOneWire",
-        "39": "Torqeedo",
-        "4": "Frsky SPort",
-        "40": "AIS",
-        "41": "CoDevESC",
-        "42": "DisplayPort",
-        "43": "MAVLink High Latency",
-        "44": "IRC Tramp",
-        "45": "DDS XRCE",
-        "46": "IMUDATA",
-        "5": "GPS",
-        "7": "Alexmos Gimbal Serial",
-        "8": "Gimbal",
-        "9": "Rangefinder"
-      }
-    },
-    "CAN_D3_UC_S3_BD": {
-      "Description": "Serial baud rate on remote CAN node",
-      "DisplayName": "Serial baud rate on remote CAN node",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "1": "1200",
-        "111": "111100",
-        "115": "115200",
-        "1500": "1500000",
-        "19": "19200",
-        "2": "2400",
-        "2000": "2000000",
-        "230": "230400",
-        "256": "256000",
-        "38": "38400",
-        "4": "4800",
-        "460": "460800",
-        "500": "500000",
-        "57": "57600",
-        "9": "9600",
-        "921": "921600"
-      }
-    },
-    "CAN_D3_UC_S3_IDX": {
-      "Description": "Serial port number on remote CAN node",
-      "DisplayName": "Serial port number on remote CAN node",
+    "COMPASS_OFS2_Y": {
+      "Calibration": "1",
+      "Description": "Offset to be added to compass2's y-axis values to compensate for metal in the frame",
+      "DisplayName": "Compass2 offsets in milligauss on the Y axis",
+      "Increment": "1",
       "Range": {
-        "high": "100",
-        "low": "0"
+        "high": "400",
+        "low": "-400"
       },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "-1": "Disabled",
-        "0": "Serial0",
-        "1": "Serial1",
-        "2": "Serial2",
-        "3": "Serial3",
-        "4": "Serial4",
-        "5": "Serial5",
-        "6": "Serial6"
-      }
+      "Units": "mGauss",
+      "User": "Advanced"
     },
-    "CAN_D3_UC_S3_NOD": {
-      "Description": "CAN node number for serial port",
-      "DisplayName": "Serial CAN remote node number",
+    "COMPASS_OFS2_Z": {
+      "Description": "Offset to be added to compass2's z-axis values to compensate for metal in the frame",
+      "DisplayName": "Compass2 offsets in milligauss on the Z axis",
+      "Increment": "1",
       "Range": {
-        "high": "127",
-        "low": "0"
+        "high": "400",
+        "low": "-400"
       },
-      "RebootRequired": "True",
+      "Units": "mGauss",
       "User": "Advanced"
     },
-    "CAN_D3_UC_S3_PRO": {
-      "Description": "Serial protocol of DroneCAN serial port",
-      "DisplayName": "Serial protocol of DroneCAN serial port",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "-1": "None",
-        "1": "MAVLink1",
-        "10": "FrSky SPort Passthrough (OpenTX)",
-        "11": "Lidar360",
-        "13": "Beacon",
-        "14": "Volz servo out",
-        "15": "SBus servo out",
-        "16": "ESC Telemetry",
-        "17": "Devo Telemetry",
-        "18": "OpticalFlow",
-        "19": "RobotisServo",
-        "2": "MAVLink2",
-        "20": "NMEA Output",
-        "21": "WindVane",
-        "22": "SLCAN",
-        "23": "RCIN",
-        "24": "EFI Serial",
-        "25": "LTM",
-        "26": "RunCam",
-        "27": "HottTelem",
-        "28": "Scripting",
-        "29": "Crossfire VTX",
-        "3": "Frsky D",
-        "30": "Generator",
-        "31": "Winch",
-        "32": "MSP",
-        "33": "DJI FPV",
-        "34": "AirSpeed",
-        "35": "ADSB",
-        "36": "AHRS",
-        "37": "SmartAudio",
-        "38": "FETtecOneWire",
-        "39": "Torqeedo",
-        "4": "Frsky SPort",
-        "40": "AIS",
-        "41": "CoDevESC",
-        "42": "DisplayPort",
-        "43": "MAVLink High Latency",
-        "44": "IRC Tramp",
-        "45": "DDS XRCE",
-        "46": "IMUDATA",
-        "5": "GPS",
-        "7": "Alexmos Gimbal Serial",
-        "8": "Gimbal",
-        "9": "Rangefinder"
-      }
-    },
-    "CAN_D3_UC_SER_EN": {
-      "Description": "Enable DroneCAN virtual serial ports",
-      "DisplayName": "DroneCAN Serial enable",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "CAN_D3_UC_SRV_BM": {
-      "Bitmask": {
-        "0": "Servo 1",
-        "1": "Servo 2",
-        "10": "Servo 11",
-        "11": "Servo 12",
-        "12": "Servo 13",
-        "13": "Servo 14",
-        "14": "Servo 15",
-        "15": "Servo 16",
-        "16": "Servo 17",
-        "17": "Servo 18",
-        "18": "Servo 19",
-        "19": "Servo 20",
-        "2": "Servo 3",
-        "20": "Servo 21",
-        "21": "Servo 22",
-        "22": "Servo 23",
-        "23": "Servo 24",
-        "24": "Servo 25",
-        "25": "Servo 26",
-        "26": "Servo 27",
-        "27": "Servo 28",
-        "28": "Servo 29",
-        "29": "Servo 30",
-        "3": "Servo 4",
-        "30": "Servo 31",
-        "31": "Servo 32",
-        "4": "Servo 5",
-        "5": "Servo 6",
-        "6": "Servo 7",
-        "7": "Servo 8",
-        "8": "Servo 9",
-        "9": "Servo 10"
+    "COMPASS_OFS3_X": {
+      "Calibration": "1",
+      "Description": "Offset to be added to compass3's x-axis values to compensate for metal in the frame",
+      "DisplayName": "Compass3 offsets in milligauss on the X axis",
+      "Increment": "1",
+      "Range": {
+        "high": "400",
+        "low": "-400"
       },
-      "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN",
-      "DisplayName": "Output channels to be transmitted as servo over DroneCAN"
+      "Units": "mGauss",
+      "User": "Advanced"
     },
-    "CAN_D3_UC_SRV_RT": {
-      "Description": "Maximum transmit rate for servo outputs",
-      "DisplayName": "Servo output rate",
+    "COMPASS_OFS3_Y": {
+      "Calibration": "1",
+      "Description": "Offset to be added to compass3's y-axis values to compensate for metal in the frame",
+      "DisplayName": "Compass3 offsets in milligauss on the Y axis",
+      "Increment": "1",
       "Range": {
-        "high": "200",
-        "low": "1"
+        "high": "400",
+        "low": "-400"
       },
-      "Units": "Hz",
+      "Units": "mGauss",
       "User": "Advanced"
-    }
-  },
-  "CAN_P1_": {
-    "CAN_P1_BITRATE": {
-      "Description": "Bit rate can be set up to from 10000 to 1000000",
-      "DisplayName": "Bitrate of CAN interface",
+    },
+    "COMPASS_OFS3_Z": {
+      "Description": "Offset to be added to compass3's z-axis values to compensate for metal in the frame",
+      "DisplayName": "Compass3 offsets in milligauss on the Z axis",
+      "Increment": "1",
       "Range": {
-        "high": "1000000",
-        "low": "10000"
+        "high": "400",
+        "low": "-400"
       },
+      "Units": "mGauss",
       "User": "Advanced"
     },
-    "CAN_P1_DRIVER": {
-      "Description": "Enabling this option enables use of CAN buses.",
-      "DisplayName": "Index of virtual driver to be used with physical CAN interface",
-      "RebootRequired": "True",
-      "User": "Standard",
+    "COMPASS_OFS_X": {
+      "Calibration": "1",
+      "Description": "Offset to be added to the compass x-axis values to compensate for metal in the frame",
+      "DisplayName": "Compass offsets in milligauss on the X axis",
+      "Increment": "1",
+      "Range": {
+        "high": "400",
+        "low": "-400"
+      },
+      "Units": "mGauss",
+      "User": "Advanced"
+    },
+    "COMPASS_OFS_Y": {
+      "Calibration": "1",
+      "Description": "Offset to be added to the compass y-axis values to compensate for metal in the frame",
+      "DisplayName": "Compass offsets in milligauss on the Y axis",
+      "Increment": "1",
+      "Range": {
+        "high": "400",
+        "low": "-400"
+      },
+      "Units": "mGauss",
+      "User": "Advanced"
+    },
+    "COMPASS_OFS_Z": {
+      "Description": "Offset to be added to the compass z-axis values to compensate for metal in the frame",
+      "DisplayName": "Compass offsets in milligauss on the Z axis",
+      "Increment": "1",
+      "Range": {
+        "high": "400",
+        "low": "-400"
+      },
+      "Units": "mGauss",
+      "User": "Advanced"
+    },
+    "COMPASS_OPTIONS": {
+      "Bitmask": {
+        "0": "CalRequireGPS",
+        "1": "Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)"
+      },
+      "Description": "This sets options to change the behaviour of the compass",
+      "DisplayName": "Compass options",
+      "User": "Advanced"
+    },
+    "COMPASS_ORIENT": {
+      "Description": "The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.",
+      "DisplayName": "Compass orientation",
+      "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "First driver",
-        "2": "Second driver",
-        "3": "Third driver"
+        "0": "None",
+        "1": "Yaw45",
+        "10": "Yaw90Roll180",
+        "100": "Custom 4.1 and older",
+        "101": "Custom 1",
+        "102": "Custom 2",
+        "11": "Yaw135Roll180",
+        "12": "Pitch180",
+        "13": "Yaw225Roll180",
+        "14": "Yaw270Roll180",
+        "15": "Yaw315Roll180",
+        "16": "Roll90",
+        "17": "Yaw45Roll90",
+        "18": "Yaw90Roll90",
+        "19": "Yaw135Roll90",
+        "2": "Yaw90",
+        "20": "Roll270",
+        "21": "Yaw45Roll270",
+        "22": "Yaw90Roll270",
+        "23": "Yaw135Roll270",
+        "24": "Pitch90",
+        "25": "Pitch270",
+        "26": "Yaw90Pitch180",
+        "27": "Yaw270Pitch180",
+        "28": "Pitch90Roll90",
+        "29": "Pitch90Roll180",
+        "3": "Yaw135",
+        "30": "Pitch90Roll270",
+        "31": "Pitch180Roll90",
+        "32": "Pitch180Roll270",
+        "33": "Pitch270Roll90",
+        "34": "Pitch270Roll180",
+        "35": "Pitch270Roll270",
+        "36": "Yaw90Pitch180Roll90",
+        "37": "Yaw270Roll90",
+        "38": "Yaw293Pitch68Roll180",
+        "39": "Pitch315",
+        "4": "Yaw180",
+        "40": "Pitch315Roll90",
+        "42": "Roll45",
+        "43": "Roll315",
+        "5": "Yaw225",
+        "6": "Yaw270",
+        "7": "Yaw315",
+        "8": "Roll180",
+        "9": "Yaw45Roll180"
       }
     },
-    "CAN_P1_FDBITRATE": {
-      "Description": "Bit rate can be set up to from 1000000 to 8000000",
-      "DisplayName": "Bitrate of CANFD interface",
+    "COMPASS_ORIENT2": {
+      "Description": "The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.",
+      "DisplayName": "Compass2 orientation",
       "User": "Advanced",
       "Values": {
-        "1": "1M",
-        "2": "2M",
-        "4": "4M",
-        "5": "5M",
-        "8": "8M"
+        "0": "None",
+        "1": "Yaw45",
+        "10": "Yaw90Roll180",
+        "100": "Custom 4.1 and older",
+        "101": "Custom 1",
+        "102": "Custom 2",
+        "11": "Yaw135Roll180",
+        "12": "Pitch180",
+        "13": "Yaw225Roll180",
+        "14": "Yaw270Roll180",
+        "15": "Yaw315Roll180",
+        "16": "Roll90",
+        "17": "Yaw45Roll90",
+        "18": "Yaw90Roll90",
+        "19": "Yaw135Roll90",
+        "2": "Yaw90",
+        "20": "Roll270",
+        "21": "Yaw45Roll270",
+        "22": "Yaw90Roll270",
+        "23": "Yaw135Roll270",
+        "24": "Pitch90",
+        "25": "Pitch270",
+        "26": "Yaw90Pitch180",
+        "27": "Yaw270Pitch180",
+        "28": "Pitch90Roll90",
+        "29": "Pitch90Roll180",
+        "3": "Yaw135",
+        "30": "Pitch90Roll270",
+        "31": "Pitch180Roll90",
+        "32": "Pitch180Roll270",
+        "33": "Pitch270Roll90",
+        "34": "Pitch270Roll180",
+        "35": "Pitch270Roll270",
+        "36": "Yaw90Pitch180Roll90",
+        "37": "Yaw270Roll90",
+        "38": "Yaw293Pitch68Roll180",
+        "39": "Pitch315",
+        "4": "Yaw180",
+        "40": "Pitch315Roll90",
+        "42": "Roll45",
+        "43": "Roll315",
+        "5": "Yaw225",
+        "6": "Yaw270",
+        "7": "Yaw315",
+        "8": "Roll180",
+        "9": "Yaw45Roll180"
       }
-    }
-  },
-  "CAN_P2_": {
-    "CAN_P2_BITRATE": {
-      "Description": "Bit rate can be set up to from 10000 to 1000000",
-      "DisplayName": "Bitrate of CAN interface",
-      "Range": {
-        "high": "1000000",
-        "low": "10000"
-      },
-      "User": "Advanced"
     },
-    "CAN_P2_DRIVER": {
-      "Description": "Enabling this option enables use of CAN buses.",
-      "DisplayName": "Index of virtual driver to be used with physical CAN interface",
-      "RebootRequired": "True",
-      "User": "Standard",
+    "COMPASS_ORIENT3": {
+      "Description": "The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.",
+      "DisplayName": "Compass3 orientation",
+      "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "First driver",
-        "2": "Second driver",
-        "3": "Third driver"
+        "0": "None",
+        "1": "Yaw45",
+        "10": "Yaw90Roll180",
+        "100": "Custom 4.1 and older",
+        "101": "Custom 1",
+        "102": "Custom 2",
+        "11": "Yaw135Roll180",
+        "12": "Pitch180",
+        "13": "Yaw225Roll180",
+        "14": "Yaw270Roll180",
+        "15": "Yaw315Roll180",
+        "16": "Roll90",
+        "17": "Yaw45Roll90",
+        "18": "Yaw90Roll90",
+        "19": "Yaw135Roll90",
+        "2": "Yaw90",
+        "20": "Roll270",
+        "21": "Yaw45Roll270",
+        "22": "Yaw90Roll270",
+        "23": "Yaw135Roll270",
+        "24": "Pitch90",
+        "25": "Pitch270",
+        "26": "Yaw90Pitch180",
+        "27": "Yaw270Pitch180",
+        "28": "Pitch90Roll90",
+        "29": "Pitch90Roll180",
+        "3": "Yaw135",
+        "30": "Pitch90Roll270",
+        "31": "Pitch180Roll90",
+        "32": "Pitch180Roll270",
+        "33": "Pitch270Roll90",
+        "34": "Pitch270Roll180",
+        "35": "Pitch270Roll270",
+        "36": "Yaw90Pitch180Roll90",
+        "37": "Yaw270Roll90",
+        "38": "Yaw293Pitch68Roll180",
+        "39": "Pitch315",
+        "4": "Yaw180",
+        "40": "Pitch315Roll90",
+        "42": "Roll45",
+        "43": "Roll315",
+        "5": "Yaw225",
+        "6": "Yaw270",
+        "7": "Yaw315",
+        "8": "Roll180",
+        "9": "Yaw45Roll180"
       }
     },
-    "CAN_P2_FDBITRATE": {
-      "Description": "Bit rate can be set up to from 1000000 to 8000000",
-      "DisplayName": "Bitrate of CANFD interface",
-      "User": "Advanced",
-      "Values": {
-        "1": "1M",
-        "2": "2M",
-        "4": "4M",
-        "5": "5M",
-        "8": "8M"
-      }
-    }
-  },
-  "CAN_P3_": {
-    "CAN_P3_BITRATE": {
-      "Description": "Bit rate can be set up to from 10000 to 1000000",
-      "DisplayName": "Bitrate of CAN interface",
-      "Range": {
-        "high": "1000000",
-        "low": "10000"
-      },
+    "COMPASS_PRIO1_ID": {
+      "Description": "Compass device id with 1st order priority, set automatically if 0. Reboot required after change.",
+      "DisplayName": "Compass device id with 1st order priority",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "CAN_P3_DRIVER": {
-      "Description": "Enabling this option enables use of CAN buses.",
-      "DisplayName": "Index of virtual driver to be used with physical CAN interface",
+    "COMPASS_PRIO2_ID": {
+      "Description": "Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.",
+      "DisplayName": "Compass device id with 2nd order priority",
       "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "First driver",
-        "2": "Second driver",
-        "3": "Third driver"
-      }
+      "User": "Advanced"
     },
-    "CAN_P3_FDBITRATE": {
-      "Description": "Bit rate can be set up to from 1000000 to 8000000",
-      "DisplayName": "Bitrate of CANFD interface",
-      "User": "Advanced",
-      "Values": {
-        "1": "1M",
-        "2": "2M",
-        "4": "4M",
-        "5": "5M",
-        "8": "8M"
-      }
-    }
-  },
-  "CAN_SLCAN_": {
-    "CAN_SLCAN_CPORT": {
-      "Description": "CAN Interface ID to be routed to SLCAN, 0 means no routing",
-      "DisplayName": "SLCAN Route",
+    "COMPASS_PRIO3_ID": {
+      "Description": "Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.",
+      "DisplayName": "Compass device id with 3rd order priority",
       "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "First interface",
-        "2": "Second interface"
-      }
+      "User": "Advanced"
     },
-    "CAN_SLCAN_SDELAY": {
-      "Description": "Duration after which slcan starts after setting SERNUM in seconds.",
-      "DisplayName": "SLCAN Start Delay",
+    "COMPASS_SCALE": {
+      "Description": "Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done",
+      "DisplayName": "Compass1 scale factor",
       "Range": {
-        "high": "127",
+        "high": "1.3",
         "low": "0"
       },
       "User": "Standard"
     },
-    "CAN_SLCAN_SERNUM": {
-      "Description": "Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details",
-      "DisplayName": "SLCAN Serial Port",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "0": "Serial0",
-        "1": "Serial1",
-        "2": "Serial2",
-        "3": "Serial3",
-        "4": "Serial4",
-        "5": "Serial5",
-        "6": "Serial6"
-      }
-    },
-    "CAN_SLCAN_TIMOUT": {
-      "Description": "Duration of inactivity after which SLCAN is switched back to original driver in seconds.",
-      "DisplayName": "SLCAN Timeout",
+    "COMPASS_SCALE2": {
+      "Description": "Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done",
+      "DisplayName": "Compass2 scale factor",
       "Range": {
-        "high": "127",
+        "high": "1.3",
         "low": "0"
       },
       "User": "Standard"
-    }
-  },
-  "CIRCLE_": {
-    "CIRCLE_OPTIONS": {
-      "Bitmask": {
-        "0": "manual control",
-        "1": "face direction of travel",
-        "2": "Start at center rather than on perimeter",
-        "3": "Make Mount ROI the center of the circle"
-      },
-      "Description": "0:Enable or disable using the pitch/roll stick control circle mode's radius and rate",
-      "DisplayName": "Circle options",
-      "User": "Standard"
     },
-    "CIRCLE_RADIUS": {
-      "Description": "Defines the radius of the circle the vehicle will fly when in Circle flight mode",
-      "DisplayName": "Circle Radius",
-      "Increment": "100",
+    "COMPASS_SCALE3": {
+      "Description": "Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done",
+      "DisplayName": "Compass3 scale factor",
       "Range": {
-        "high": "200000",
+        "high": "1.3",
         "low": "0"
       },
-      "Units": "cm",
-      "User": "Standard"
-    },
-    "CIRCLE_RATE": {
-      "Description": "Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise. Circle rate must be less than ATC_SLEW_YAW parameter.",
-      "DisplayName": "Circle rate",
-      "Increment": "1",
-      "Range": {
-        "high": "90",
-        "low": "-90"
-      },
-      "Units": "deg/s",
       "User": "Standard"
-    }
-  },
-  "COMPASS_": {
-    "COMPASS_AUTODEC": {
-      "Description": "Enable or disable the automatic calculation of the declination based on gps location",
-      "DisplayName": "Auto Declination",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    },
-    "COMPASS_AUTO_ROT": {
-      "Description": "When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.",
-      "DisplayName": "Automatically check orientation",
-      "Values": {
-        "0": "Disabled",
-        "1": "CheckOnly",
-        "2": "CheckAndFix",
-        "3": "use same tolerance to auto rotate 45 deg rotations"
-      }
     },
-    "COMPASS_CAL_FIT": {
-      "Description": "This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.",
-      "DisplayName": "Compass calibration fitness",
-      "Increment": "0.1",
-      "Range": {
-        "high": "32",
-        "low": "4"
-      },
+    "COMPASS_USE": {
+      "Description": "Enable or disable the use of the compass (instead of the GPS) for determining heading",
+      "DisplayName": "Use compass for yaw",
       "User": "Advanced",
       "Values": {
-        "16": "Default",
-        "32": "Relaxed",
-        "4": "Very Strict",
-        "8": "Strict"
-      }
-    },
-    "COMPASS_CUS_PIT": {
-      "Description": "Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.",
-      "DisplayName": "Custom orientation pitch offset",
-      "Increment": "1",
-      "Range": {
-        "high": "180",
-        "low": "-180"
-      },
-      "RebootRequired": "True",
-      "Units": "deg",
-      "User": "Advanced"
-    },
-    "COMPASS_CUS_ROLL": {
-      "Description": "Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.",
-      "DisplayName": "Custom orientation roll offset",
-      "Increment": "1",
-      "Range": {
-        "high": "180",
-        "low": "-180"
-      },
-      "RebootRequired": "True",
-      "Units": "deg",
-      "User": "Advanced"
-    },
-    "COMPASS_CUS_YAW": {
-      "Description": "Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.",
-      "DisplayName": "Custom orientation yaw offset",
-      "Increment": "1",
-      "Range": {
-        "high": "180",
-        "low": "-180"
-      },
-      "RebootRequired": "True",
-      "Units": "deg",
-      "User": "Advanced"
-    },
-    "COMPASS_DEC": {
-      "Description": "An angle to compensate between the true north and magnetic north",
-      "DisplayName": "Compass declination",
-      "Increment": "0.01",
-      "Range": {
-        "high": "3.142",
-        "low": "-3.142"
-      },
-      "Units": "rad",
-      "User": "Standard"
-    },
-    "COMPASS_DEV_ID": {
-      "Description": "Compass device id.  Automatically detected, do not set manually",
-      "DisplayName": "Compass device id",
-      "ReadOnly": "True",
-      "User": "Advanced"
-    },
-    "COMPASS_DEV_ID2": {
-      "Description": "Second compass's device id.  Automatically detected, do not set manually",
-      "DisplayName": "Compass2 device id",
-      "ReadOnly": "True",
-      "User": "Advanced"
-    },
-    "COMPASS_DEV_ID3": {
-      "Description": "Third compass's device id.  Automatically detected, do not set manually",
-      "DisplayName": "Compass3 device id",
-      "ReadOnly": "True",
-      "User": "Advanced"
-    },
-    "COMPASS_DEV_ID4": {
-      "Description": "Extra 4th compass's device id.  Automatically detected, do not set manually",
-      "DisplayName": "Compass4 device id",
-      "ReadOnly": "True",
-      "User": "Advanced"
-    },
-    "COMPASS_DEV_ID5": {
-      "Description": "Extra 5th compass's device id.  Automatically detected, do not set manually",
-      "DisplayName": "Compass5 device id",
-      "ReadOnly": "True",
-      "User": "Advanced"
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "COMPASS_DEV_ID6": {
-      "Description": "Extra 6th compass's device id.  Automatically detected, do not set manually",
-      "DisplayName": "Compass6 device id",
-      "ReadOnly": "True",
-      "User": "Advanced"
+    "COMPASS_USE2": {
+      "Description": "Enable or disable the secondary compass for determining heading.",
+      "DisplayName": "Compass2 used for yaw",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "COMPASS_DEV_ID7": {
-      "Description": "Extra 7th compass's device id.  Automatically detected, do not set manually",
-      "DisplayName": "Compass7 device id",
-      "ReadOnly": "True",
+    "COMPASS_USE3": {
+      "Description": "Enable or disable the tertiary compass for determining heading.",
+      "DisplayName": "Compass3 used for yaw",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
+    }
+  },
+  "COMPASS_PMOT": {
+    "COMPASS_PMOT1_X": {
+      "Description": "Compensation for X axis of motor1",
+      "DisplayName": "Compass per-motor1 X",
       "User": "Advanced"
     },
-    "COMPASS_DEV_ID8": {
-      "Description": "Extra 8th compass's device id.  Automatically detected, do not set manually",
-      "DisplayName": "Compass8 device id",
-      "ReadOnly": "True",
+    "COMPASS_PMOT1_Y": {
+      "Description": "Compensation for Y axis of motor1",
+      "DisplayName": "Compass per-motor1 Y",
       "User": "Advanced"
     },
-    "COMPASS_DIA2_X": {
-      "Calibration": "1",
-      "Description": "DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass2 soft-iron diagonal X component",
+    "COMPASS_PMOT1_Z": {
+      "Description": "Compensation for Z axis of motor1",
+      "DisplayName": "Compass per-motor1 Z",
       "User": "Advanced"
     },
-    "COMPASS_DIA2_Y": {
-      "Calibration": "1",
-      "Description": "DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass2 soft-iron diagonal Y component",
+    "COMPASS_PMOT2_X": {
+      "Description": "Compensation for X axis of motor2",
+      "DisplayName": "Compass per-motor2 X",
       "User": "Advanced"
     },
-    "COMPASS_DIA2_Z": {
-      "Description": "DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass2 soft-iron diagonal Z component",
+    "COMPASS_PMOT2_Y": {
+      "Description": "Compensation for Y axis of motor2",
+      "DisplayName": "Compass per-motor2 Y",
       "User": "Advanced"
     },
-    "COMPASS_DIA3_X": {
-      "Calibration": "1",
-      "Description": "DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass3 soft-iron diagonal X component",
+    "COMPASS_PMOT2_Z": {
+      "Description": "Compensation for Z axis of motor2",
+      "DisplayName": "Compass per-motor2 Z",
       "User": "Advanced"
     },
-    "COMPASS_DIA3_Y": {
-      "Calibration": "1",
-      "Description": "DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass3 soft-iron diagonal Y component",
+    "COMPASS_PMOT3_X": {
+      "Description": "Compensation for X axis of motor3",
+      "DisplayName": "Compass per-motor3 X",
       "User": "Advanced"
     },
-    "COMPASS_DIA3_Z": {
-      "Description": "DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass3 soft-iron diagonal Z component",
+    "COMPASS_PMOT3_Y": {
+      "Description": "Compensation for Y axis of motor3",
+      "DisplayName": "Compass per-motor3 Y",
       "User": "Advanced"
     },
-    "COMPASS_DIA_X": {
-      "Calibration": "1",
-      "Description": "DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass soft-iron diagonal X component",
+    "COMPASS_PMOT3_Z": {
+      "Description": "Compensation for Z axis of motor3",
+      "DisplayName": "Compass per-motor3 Z",
       "User": "Advanced"
     },
-    "COMPASS_DIA_Y": {
-      "Calibration": "1",
-      "Description": "DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass soft-iron diagonal Y component",
+    "COMPASS_PMOT4_X": {
+      "Description": "Compensation for X axis of motor4",
+      "DisplayName": "Compass per-motor4 X",
       "User": "Advanced"
     },
-    "COMPASS_DIA_Z": {
-      "Description": "DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass soft-iron diagonal Z component",
+    "COMPASS_PMOT4_Y": {
+      "Description": "Compensation for Y axis of motor4",
+      "DisplayName": "Compass per-motor4 Y",
       "User": "Advanced"
     },
-    "COMPASS_DISBLMSK": {
-      "Bitmask": {
-        "0": "HMC5883",
-        "1": "LSM303D",
-        "11": "DroneCAN",
-        "12": "QMC5883",
-        "14": "MAG3110",
-        "15": "IST8308",
-        "16": "RM3100",
-        "17": "MSP",
-        "18": "ExternalAHRS",
-        "2": "AK8963",
-        "3": "BMM150",
-        "4": "LSM9DS1",
-        "5": "LIS3MDL",
-        "6": "AK09916",
-        "7": "IST8310",
-        "8": "ICM20948",
-        "9": "MMC3416"
-      },
-      "Description": "This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup",
-      "DisplayName": "Compass disable driver type mask",
+    "COMPASS_PMOT4_Z": {
+      "Description": "Compensation for Z axis of motor4",
+      "DisplayName": "Compass per-motor4 Z",
       "User": "Advanced"
     },
-    "COMPASS_ENABLE": {
-      "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.",
-      "DisplayName": "Enable Compass",
-      "RebootRequired": "True",
-      "User": "Standard",
+    "COMPASS_PMOT_EN": {
+      "Description": "This enables per-motor compass corrections",
+      "DisplayName": "per-motor compass correction enable",
+      "User": "Advanced",
       "Values": {
         "0": "Disabled",
         "1": "Enabled"
       }
     },
-    "COMPASS_EXTERN2": {
-      "Description": "Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.",
-      "DisplayName": "Compass2 is attached via an external cable",
-      "User": "Advanced",
+    "COMPASS_PMOT_EXP": {
+      "Description": "This is the exponential correction for the power output of the motor for per-motor compass correction",
+      "DisplayName": "per-motor exponential correction",
+      "Increment": "0.01",
+      "Range": {
+        "high": "2",
+        "low": "0"
+      },
+      "User": "Advanced"
+    }
+  },
+  "CUST_ROT": {
+    "CUST_ROT_ENABLE": {
+      "Description": "This enables custom rotations",
+      "DisplayName": "Enable Custom rotations",
+      "RebootRequired": "True",
+      "User": "Standard",
       "Values": {
-        "0": "Internal",
-        "1": "External",
-        "2": "ForcedExternal"
+        "0": "Disable",
+        "1": "Enable"
       }
+    }
+  },
+  "CUST_ROT1_": {
+    "CUST_ROT1_PITCH": {
+      "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering",
+      "DisplayName": "Custom pitch",
+      "RebootRequired": "True",
+      "Units": "deg"
     },
-    "COMPASS_EXTERN3": {
-      "Description": "Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.",
-      "DisplayName": "Compass3 is attached via an external cable",
-      "User": "Advanced",
-      "Values": {
-        "0": "Internal",
-        "1": "External",
-        "2": "ForcedExternal"
-      }
+    "CUST_ROT1_ROLL": {
+      "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering",
+      "DisplayName": "Custom roll",
+      "RebootRequired": "True",
+      "Units": "deg"
     },
-    "COMPASS_EXTERNAL": {
-      "Description": "Configure compass so it is attached externally. This is auto-detected on most boards. 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. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.",
-      "DisplayName": "Compass is attached via an external cable",
-      "User": "Advanced",
-      "Values": {
-        "0": "Internal",
-        "1": "External",
-        "2": "ForcedExternal"
-      }
+    "CUST_ROT1_YAW": {
+      "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering",
+      "DisplayName": "Custom yaw",
+      "RebootRequired": "True",
+      "Units": "deg"
+    }
+  },
+  "CUST_ROT2_": {
+    "CUST_ROT2_PITCH": {
+      "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering",
+      "DisplayName": "Custom pitch",
+      "RebootRequired": "True",
+      "Units": "deg"
     },
-    "COMPASS_FLTR_RNG": {
-      "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.",
-      "DisplayName": "Range in which sample is accepted",
-      "Increment": "1",
-      "Range": {
-        "high": "100",
-        "low": "0"
-      },
-      "Units": "%"
+    "CUST_ROT2_ROLL": {
+      "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering",
+      "DisplayName": "Custom roll",
+      "RebootRequired": "True",
+      "Units": "deg"
     },
-    "COMPASS_LEARN": {
-      "Description": "Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.",
-      "DisplayName": "Learn compass offsets automatically",
+    "CUST_ROT2_YAW": {
+      "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering",
+      "DisplayName": "Custom yaw",
+      "RebootRequired": "True",
+      "Units": "deg"
+    }
+  },
+  "DDS": {
+    "DDS_ENABLE": {
+      "Description": "Enable DDS subsystem",
+      "DisplayName": "DDS enable",
+      "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Internal-Learning",
-        "2": "EKF-Learning",
-        "3": "InFlight-Learning"
+        "1": "Enabled"
       }
     },
-    "COMPASS_MOT2_X": {
-      "Calibration": "1",
-      "Description": "Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
-      "DisplayName": "Motor interference compensation to compass2 for body frame X axis",
-      "Increment": "1",
-      "Range": {
-        "high": "1000",
-        "low": "-1000"
-      },
-      "Units": "mGauss/A",
-      "User": "Advanced"
-    },
-    "COMPASS_MOT2_Y": {
-      "Calibration": "1",
-      "Description": "Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
-      "DisplayName": "Motor interference compensation to compass2 for body frame Y axis",
-      "Increment": "1",
+    "DDS_UDP_PORT": {
+      "Description": "UDP port number for DDS",
+      "DisplayName": "DDS UDP port",
       "Range": {
-        "high": "1000",
-        "low": "-1000"
+        "high": "65535",
+        "low": "1"
       },
-      "Units": "mGauss/A",
-      "User": "Advanced"
-    },
-    "COMPASS_MOT2_Z": {
-      "Description": "Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
-      "DisplayName": "Motor interference compensation to compass2 for body frame Z axis",
-      "Increment": "1",
+      "RebootRequired": "True",
+      "User": "Standard"
+    }
+  },
+  "DDS_IP": {
+    "DDS_IP0": {
+      "Description": "IPv4 address. Example: 192.xxx.xxx.xxx",
+      "DisplayName": "IPv4 Address 1st byte",
       "Range": {
-        "high": "1000",
-        "low": "-1000"
+        "high": "255",
+        "low": "0"
       },
-      "Units": "mGauss/A",
-      "User": "Advanced"
+      "RebootRequired": "True"
     },
-    "COMPASS_MOT3_X": {
-      "Calibration": "1",
-      "Description": "Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
-      "DisplayName": "Motor interference compensation to compass3 for body frame X axis",
-      "Increment": "1",
+    "DDS_IP1": {
+      "Description": "IPv4 address. Example: xxx.168.xxx.xxx",
+      "DisplayName": "IPv4 Address 2nd byte",
       "Range": {
-        "high": "1000",
-        "low": "-1000"
+        "high": "255",
+        "low": "0"
       },
-      "Units": "mGauss/A",
-      "User": "Advanced"
+      "RebootRequired": "True"
     },
-    "COMPASS_MOT3_Y": {
-      "Calibration": "1",
-      "Description": "Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
-      "DisplayName": "Motor interference compensation to compass3 for body frame Y axis",
-      "Increment": "1",
+    "DDS_IP2": {
+      "Description": "IPv4 address. Example: xxx.xxx.13.xxx",
+      "DisplayName": "IPv4 Address 3rd byte",
       "Range": {
-        "high": "1000",
-        "low": "-1000"
+        "high": "255",
+        "low": "0"
       },
-      "Units": "mGauss/A",
-      "User": "Advanced"
+      "RebootRequired": "True"
     },
-    "COMPASS_MOT3_Z": {
-      "Description": "Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
-      "DisplayName": "Motor interference compensation to compass3 for body frame Z axis",
-      "Increment": "1",
+    "DDS_IP3": {
+      "Description": "IPv4 address. Example: xxx.xxx.xxx.14",
+      "DisplayName": "IPv4 Address 4th byte",
       "Range": {
-        "high": "1000",
-        "low": "-1000"
+        "high": "255",
+        "low": "0"
       },
-      "Units": "mGauss/A",
+      "RebootRequired": "True"
+    }
+  },
+  "DID_": {
+    "DID_BARO_ACC": {
+      "Description": "Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default",
+      "DisplayName": "Barometer vertical accuraacy",
+      "Units": "m",
       "User": "Advanced"
     },
-    "COMPASS_MOTCT": {
-      "Calibration": "1",
-      "Description": "Set motor interference compensation type to disabled, throttle or current.  Do not change manually.",
-      "DisplayName": "Motor interference compensation type",
-      "User": "Advanced",
+    "DID_CANDRIVER": {
+      "Description": "DroneCAN driver index, 0 to disable DroneCAN",
+      "DisplayName": "DroneCAN driver number",
       "Values": {
         "0": "Disabled",
-        "1": "Use Throttle",
-        "2": "Use Current"
+        "1": "Driver1",
+        "2": "Driver2"
       }
     },
-    "COMPASS_MOT_X": {
-      "Calibration": "1",
-      "Description": "Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
-      "DisplayName": "Motor interference compensation for body frame X axis",
-      "Increment": "1",
-      "Range": {
-        "high": "1000",
-        "low": "-1000"
-      },
-      "Units": "mGauss/A",
-      "User": "Advanced"
+    "DID_ENABLE": {
+      "Description": "Enable ODID subsystem",
+      "DisplayName": "Enable ODID subsystem",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "COMPASS_MOT_Y": {
-      "Calibration": "1",
-      "Description": "Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
-      "DisplayName": "Motor interference compensation for body frame Y axis",
-      "Increment": "1",
-      "Range": {
-        "high": "1000",
-        "low": "-1000"
-      },
-      "Units": "mGauss/A",
-      "User": "Advanced"
+    "DID_MAVPORT": {
+      "Description": "Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.",
+      "DisplayName": "MAVLink serial port",
+      "Values": {
+        "-1": "Disabled",
+        "0": "Serial0",
+        "1": "Serial1",
+        "2": "Serial2",
+        "3": "Serial3",
+        "4": "Serial4",
+        "5": "Serial5",
+        "6": "Serial6"
+      }
     },
-    "COMPASS_MOT_Z": {
-      "Description": "Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)",
-      "DisplayName": "Motor interference compensation for body frame Z axis",
-      "Increment": "1",
-      "Range": {
-        "high": "1000",
-        "low": "-1000"
+    "DID_OPTIONS": {
+      "Bitmask": {
+        "0": "EnforceArming",
+        "1": "AllowNonGPSPosition",
+        "2": "LockUASIDOnFirstBasicIDRx"
       },
-      "Units": "mGauss/A",
-      "User": "Advanced"
-    },
-    "COMPASS_ODI2_X": {
-      "Calibration": "1",
-      "Description": "ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass2 soft-iron off-diagonal X component",
-      "User": "Advanced"
-    },
-    "COMPASS_ODI2_Y": {
-      "Calibration": "1",
-      "Description": "ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass2 soft-iron off-diagonal Y component",
-      "User": "Advanced"
-    },
-    "COMPASS_ODI2_Z": {
-      "Description": "ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass2 soft-iron off-diagonal Z component",
-      "User": "Advanced"
-    },
-    "COMPASS_ODI3_X": {
-      "Calibration": "1",
-      "Description": "ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass3 soft-iron off-diagonal X component",
-      "User": "Advanced"
-    },
-    "COMPASS_ODI3_Y": {
-      "Calibration": "1",
-      "Description": "ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass3 soft-iron off-diagonal Y component",
-      "User": "Advanced"
-    },
-    "COMPASS_ODI3_Z": {
-      "Description": "ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass3 soft-iron off-diagonal Z component",
-      "User": "Advanced"
-    },
-    "COMPASS_ODI_X": {
-      "Calibration": "1",
-      "Description": "ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass soft-iron off-diagonal X component",
-      "User": "Advanced"
-    },
-    "COMPASS_ODI_Y": {
-      "Calibration": "1",
-      "Description": "ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass soft-iron off-diagonal Y component",
-      "User": "Advanced"
-    },
-    "COMPASS_ODI_Z": {
-      "Description": "ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]",
-      "DisplayName": "Compass soft-iron off-diagonal Z component",
-      "User": "Advanced"
-    },
-    "COMPASS_OFFS_MAX": {
-      "Description": "This sets the maximum allowed compass offset in calibration and arming checks",
-      "DisplayName": "Compass maximum offset",
-      "Increment": "1",
-      "Range": {
-        "high": "3000",
-        "low": "500"
+      "Description": "Options for OpenDroneID subsystem",
+      "DisplayName": "OpenDroneID options"
+    }
+  },
+  "EAHRS": {
+    "EAHRS_OPTIONS": {
+      "Bitmask": {
+        "0": "Vector Nav use uncompensated values for accel gyro and mag."
       },
-      "User": "Advanced"
+      "Description": "External AHRS options bitmask",
+      "DisplayName": "External AHRS options",
+      "User": "Standard"
     },
-    "COMPASS_OFS2_X": {
-      "Calibration": "1",
-      "Description": "Offset to be added to compass2's x-axis values to compensate for metal in the frame",
-      "DisplayName": "Compass2 offsets in milligauss on the X axis",
-      "Increment": "1",
-      "Range": {
-        "high": "400",
-        "low": "-400"
+    "EAHRS_RATE": {
+      "Description": "Requested rate for AHRS device",
+      "DisplayName": "AHRS data rate",
+      "Units": "Hz",
+      "User": "Standard"
+    },
+    "EAHRS_SENSORS": {
+      "Bitmask": {
+        "0": "GPS",
+        "1": "IMU",
+        "2": "Baro",
+        "3": "Compass"
       },
-      "Units": "mGauss",
+      "Description": "External AHRS sensors bitmask",
+      "DisplayName": "External AHRS sensors",
       "User": "Advanced"
     },
-    "COMPASS_OFS2_Y": {
-      "Calibration": "1",
-      "Description": "Offset to be added to compass2's y-axis values to compensate for metal in the frame",
-      "DisplayName": "Compass2 offsets in milligauss on the Y axis",
-      "Increment": "1",
+    "EAHRS_TYPE": {
+      "Description": "Type of AHRS device",
+      "DisplayName": "AHRS type",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "1": "VectorNav",
+        "2": "MicroStrain5",
+        "5": "InertialLabs",
+        "7": "MicroStrain7"
+      }
+    }
+  },
+  "EFI": {
+    "EFI_COEF1": {
+      "Description": "Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle",
+      "DisplayName": "EFI Calibration Coefficient 1",
       "Range": {
-        "high": "400",
-        "low": "-400"
+        "high": "1",
+        "low": "0"
       },
-      "Units": "mGauss",
       "User": "Advanced"
     },
-    "COMPASS_OFS2_Z": {
-      "Description": "Offset to be added to compass2's z-axis values to compensate for metal in the frame",
-      "DisplayName": "Compass2 offsets in milligauss on the Z axis",
-      "Increment": "1",
+    "EFI_COEF2": {
+      "Description": "Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1",
+      "DisplayName": "EFI Calibration Coefficient 2",
       "Range": {
-        "high": "400",
-        "low": "-400"
+        "high": "10",
+        "low": "0"
       },
-      "Units": "mGauss",
       "User": "Advanced"
     },
-    "COMPASS_OFS3_X": {
-      "Calibration": "1",
-      "Description": "Offset to be added to compass3's x-axis values to compensate for metal in the frame",
-      "DisplayName": "Compass3 offsets in milligauss on the X axis",
-      "Increment": "1",
+    "EFI_FUEL_DENS": {
+      "Description": "Used to calculate fuel consumption",
+      "DisplayName": "ECU Fuel Density",
       "Range": {
-        "high": "400",
-        "low": "-400"
+        "high": "10000",
+        "low": "0"
       },
-      "Units": "mGauss",
+      "Units": "kg/m/m/m",
       "User": "Advanced"
     },
-    "COMPASS_OFS3_Y": {
-      "Calibration": "1",
-      "Description": "Offset to be added to compass3's y-axis values to compensate for metal in the frame",
-      "DisplayName": "Compass3 offsets in milligauss on the Y axis",
-      "Increment": "1",
+    "EFI_TYPE": {
+      "Description": "What method of communication is used for EFI #1",
+      "DisplayName": "EFI communication type",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "Serial-MS",
+        "2": "NWPMU",
+        "3": "Serial-Lutan",
+        "5": "DroneCAN",
+        "6": "Currawong-ECU",
+        "7": "Scripting",
+        "8": "Hirth",
+        "9": "MAV"
+      }
+    }
+  },
+  "EFI_THRLIN": {
+    "EFI_THRLIN_COEF1": {
+      "Description": "First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)",
+      "DisplayName": "Throttle linearisation - First Order",
       "Range": {
-        "high": "400",
-        "low": "-400"
+        "high": "1",
+        "low": "-1"
       },
-      "Units": "mGauss",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "COMPASS_OFS3_Z": {
-      "Description": "Offset to be added to compass3's z-axis values to compensate for metal in the frame",
-      "DisplayName": "Compass3 offsets in milligauss on the Z axis",
-      "Increment": "1",
+    "EFI_THRLIN_COEF2": {
+      "Description": "Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)",
+      "DisplayName": "Throttle linearisation - Second Order",
       "Range": {
-        "high": "400",
-        "low": "-400"
+        "high": "1",
+        "low": "-1"
       },
-      "Units": "mGauss",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "COMPASS_OFS_X": {
-      "Calibration": "1",
-      "Description": "Offset to be added to the compass x-axis values to compensate for metal in the frame",
-      "DisplayName": "Compass offsets in milligauss on the X axis",
-      "Increment": "1",
+    "EFI_THRLIN_COEF3": {
+      "Description": "Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)",
+      "DisplayName": "Throttle linearisation - Third Order",
       "Range": {
-        "high": "400",
-        "low": "-400"
+        "high": "1",
+        "low": "-1"
       },
-      "Units": "mGauss",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "COMPASS_OFS_Y": {
-      "Calibration": "1",
-      "Description": "Offset to be added to the compass y-axis values to compensate for metal in the frame",
-      "DisplayName": "Compass offsets in milligauss on the Y axis",
-      "Increment": "1",
-      "Range": {
-        "high": "400",
-        "low": "-400"
-      },
-      "Units": "mGauss",
-      "User": "Advanced"
+    "EFI_THRLIN_EN": {
+      "Description": "Enable EFI throttle linearisation",
+      "DisplayName": "Enable throttle linearisation",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "COMPASS_OFS_Z": {
-      "Description": "Offset to be added to the compass z-axis values to compensate for metal in the frame",
-      "DisplayName": "Compass offsets in milligauss on the Z axis",
-      "Increment": "1",
+    "EFI_THRLIN_OFS": {
+      "Description": "Offset for throttle linearization ",
+      "DisplayName": "throttle linearization offset",
       "Range": {
-        "high": "400",
-        "low": "-400"
+        "high": "100",
+        "low": "0"
       },
-      "Units": "mGauss",
+      "RebootRequired": "True",
       "User": "Advanced"
-    },
-    "COMPASS_OPTIONS": {
-      "Bitmask": {
-        "0": "CalRequireGPS",
-        "1": "Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)"
+    }
+  },
+  "EK2_": {
+    "EK2_ABIAS_P_NSE": {
+      "Description": "This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.",
+      "DisplayName": "Accelerometer bias stability (m/s^3)",
+      "Range": {
+        "high": "0.005",
+        "low": "0.00001"
       },
-      "Description": "This sets options to change the behaviour of the compass",
-      "DisplayName": "Compass options",
+      "Units": "m/s/s/s",
       "User": "Advanced"
     },
-    "COMPASS_ORIENT": {
-      "Description": "The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.",
-      "DisplayName": "Compass orientation",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "1": "Yaw45",
-        "10": "Yaw90Roll180",
-        "100": "Custom 4.1 and older",
-        "101": "Custom 1",
-        "102": "Custom 2",
-        "11": "Yaw135Roll180",
-        "12": "Pitch180",
-        "13": "Yaw225Roll180",
-        "14": "Yaw270Roll180",
-        "15": "Yaw315Roll180",
-        "16": "Roll90",
-        "17": "Yaw45Roll90",
-        "18": "Yaw90Roll90",
-        "19": "Yaw135Roll90",
-        "2": "Yaw90",
-        "20": "Roll270",
-        "21": "Yaw45Roll270",
-        "22": "Yaw90Roll270",
-        "23": "Yaw135Roll270",
-        "24": "Pitch90",
-        "25": "Pitch270",
-        "26": "Yaw90Pitch180",
-        "27": "Yaw270Pitch180",
-        "28": "Pitch90Roll90",
-        "29": "Pitch90Roll180",
-        "3": "Yaw135",
-        "30": "Pitch90Roll270",
-        "31": "Pitch180Roll90",
-        "32": "Pitch180Roll270",
-        "33": "Pitch270Roll90",
-        "34": "Pitch270Roll180",
-        "35": "Pitch270Roll270",
-        "36": "Yaw90Pitch180Roll90",
-        "37": "Yaw270Roll90",
-        "38": "Yaw293Pitch68Roll180",
-        "39": "Pitch315",
-        "4": "Yaw180",
-        "40": "Pitch315Roll90",
-        "42": "Roll45",
-        "43": "Roll315",
-        "5": "Yaw225",
-        "6": "Yaw270",
-        "7": "Yaw315",
-        "8": "Roll180",
-        "9": "Yaw45Roll180"
-      }
-    },
-    "COMPASS_ORIENT2": {
-      "Description": "The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.",
-      "DisplayName": "Compass2 orientation",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "1": "Yaw45",
-        "10": "Yaw90Roll180",
-        "100": "Custom 4.1 and older",
-        "101": "Custom 1",
-        "102": "Custom 2",
-        "11": "Yaw135Roll180",
-        "12": "Pitch180",
-        "13": "Yaw225Roll180",
-        "14": "Yaw270Roll180",
-        "15": "Yaw315Roll180",
-        "16": "Roll90",
-        "17": "Yaw45Roll90",
-        "18": "Yaw90Roll90",
-        "19": "Yaw135Roll90",
-        "2": "Yaw90",
-        "20": "Roll270",
-        "21": "Yaw45Roll270",
-        "22": "Yaw90Roll270",
-        "23": "Yaw135Roll270",
-        "24": "Pitch90",
-        "25": "Pitch270",
-        "26": "Yaw90Pitch180",
-        "27": "Yaw270Pitch180",
-        "28": "Pitch90Roll90",
-        "29": "Pitch90Roll180",
-        "3": "Yaw135",
-        "30": "Pitch90Roll270",
-        "31": "Pitch180Roll90",
-        "32": "Pitch180Roll270",
-        "33": "Pitch270Roll90",
-        "34": "Pitch270Roll180",
-        "35": "Pitch270Roll270",
-        "36": "Yaw90Pitch180Roll90",
-        "37": "Yaw270Roll90",
-        "38": "Yaw293Pitch68Roll180",
-        "39": "Pitch315",
-        "4": "Yaw180",
-        "40": "Pitch315Roll90",
-        "42": "Roll45",
-        "43": "Roll315",
-        "5": "Yaw225",
-        "6": "Yaw270",
-        "7": "Yaw315",
-        "8": "Roll180",
-        "9": "Yaw45Roll180"
-      }
+    "EK2_ACC_P_NSE": {
+      "Description": "This control disturbance 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.",
+      "DisplayName": "Accelerometer noise (m/s^2)",
+      "Increment": "0.01",
+      "Range": {
+        "high": "1.0",
+        "low": "0.01"
+      },
+      "Units": "m/s/s",
+      "User": "Advanced"
     },
-    "COMPASS_ORIENT3": {
-      "Description": "The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.",
-      "DisplayName": "Compass3 orientation",
+    "EK2_ALT_M_NSE": {
+      "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.",
+      "DisplayName": "Altitude measurement noise (m)",
+      "Increment": "0.1",
+      "Range": {
+        "high": "10.0",
+        "low": "0.1"
+      },
+      "Units": "m",
+      "User": "Advanced"
+    },
+    "EK2_ALT_SOURCE": {
+      "Description": "Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).",
+      "DisplayName": "Primary altitude sensor source",
+      "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "Yaw45",
-        "10": "Yaw90Roll180",
-        "100": "Custom 4.1 and older",
-        "101": "Custom 1",
-        "102": "Custom 2",
-        "11": "Yaw135Roll180",
-        "12": "Pitch180",
-        "13": "Yaw225Roll180",
-        "14": "Yaw270Roll180",
-        "15": "Yaw315Roll180",
-        "16": "Roll90",
-        "17": "Yaw45Roll90",
-        "18": "Yaw90Roll90",
-        "19": "Yaw135Roll90",
-        "2": "Yaw90",
-        "20": "Roll270",
-        "21": "Yaw45Roll270",
-        "22": "Yaw90Roll270",
-        "23": "Yaw135Roll270",
-        "24": "Pitch90",
-        "25": "Pitch270",
-        "26": "Yaw90Pitch180",
-        "27": "Yaw270Pitch180",
-        "28": "Pitch90Roll90",
-        "29": "Pitch90Roll180",
-        "3": "Yaw135",
-        "30": "Pitch90Roll270",
-        "31": "Pitch180Roll90",
-        "32": "Pitch180Roll270",
-        "33": "Pitch270Roll90",
-        "34": "Pitch270Roll180",
-        "35": "Pitch270Roll270",
-        "36": "Yaw90Pitch180Roll90",
-        "37": "Yaw270Roll90",
-        "38": "Yaw293Pitch68Roll180",
-        "39": "Pitch315",
-        "4": "Yaw180",
-        "40": "Pitch315Roll90",
-        "42": "Roll45",
-        "43": "Roll315",
-        "5": "Yaw225",
-        "6": "Yaw270",
-        "7": "Yaw315",
-        "8": "Roll180",
-        "9": "Yaw45Roll180"
+        "0": "Use Baro",
+        "1": "Use Range Finder",
+        "2": "Use GPS",
+        "3": "Use Range Beacon"
       }
     },
-    "COMPASS_PRIO1_ID": {
-      "Description": "Compass device id with 1st order priority, set automatically if 0. Reboot required after change.",
-      "DisplayName": "Compass device id with 1st order priority",
+    "EK2_BCN_DELAY": {
+      "Description": "This is the number of msec that the range beacon 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.",
+      "DisplayName": "Range beacon measurement delay (msec)",
+      "Increment": "10",
+      "Range": {
+        "high": "127",
+        "low": "0"
+      },
       "RebootRequired": "True",
+      "Units": "ms",
       "User": "Advanced"
     },
-    "COMPASS_PRIO2_ID": {
-      "Description": "Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.",
-      "DisplayName": "Compass device id with 2nd order priority",
-      "RebootRequired": "True",
+    "EK2_BCN_I_GTE": {
+      "Description": "This sets the percentage number of standard deviations applied to the range beacon 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.",
+      "DisplayName": "Range beacon measurement gate size",
+      "Increment": "25",
+      "Range": {
+        "high": "1000",
+        "low": "100"
+      },
       "User": "Advanced"
     },
-    "COMPASS_PRIO3_ID": {
-      "Description": "Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.",
-      "DisplayName": "Compass device id with 3rd order priority",
-      "RebootRequired": "True",
+    "EK2_BCN_M_NSE": {
+      "Description": "This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.",
+      "DisplayName": "Range beacon measurement noise (m)",
+      "Increment": "0.1",
+      "Range": {
+        "high": "10.0",
+        "low": "0.1"
+      },
+      "Units": "m",
       "User": "Advanced"
     },
-    "COMPASS_SCALE": {
-      "Description": "Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done",
-      "DisplayName": "Compass1 scale factor",
+    "EK2_CHECK_SCALE": {
+      "Description": "This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.",
+      "DisplayName": "GPS accuracy check scaler (%)",
       "Range": {
-        "high": "1.3",
-        "low": "0"
+        "high": "200",
+        "low": "50"
       },
-      "User": "Standard"
+      "Units": "%",
+      "User": "Advanced"
     },
-    "COMPASS_SCALE2": {
-      "Description": "Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done",
-      "DisplayName": "Compass2 scale factor",
+    "EK2_EAS_I_GATE": {
+      "Description": "This sets the percentage 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.",
+      "DisplayName": "Airspeed measurement gate size",
+      "Increment": "25",
       "Range": {
-        "high": "1.3",
-        "low": "0"
+        "high": "1000",
+        "low": "100"
       },
-      "User": "Standard"
+      "User": "Advanced"
     },
-    "COMPASS_SCALE3": {
-      "Description": "Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done",
-      "DisplayName": "Compass3 scale factor",
+    "EK2_EAS_M_NSE": {
+      "Description": "This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.",
+      "DisplayName": "Equivalent airspeed measurement noise (m/s)",
+      "Increment": "0.1",
       "Range": {
-        "high": "1.3",
-        "low": "0"
+        "high": "5.0",
+        "low": "0.5"
       },
-      "User": "Standard"
+      "Units": "m/s",
+      "User": "Advanced"
     },
-    "COMPASS_USE": {
-      "Description": "Enable or disable the use of the compass (instead of the GPS) for determining heading",
-      "DisplayName": "Use compass for yaw",
+    "EK2_ENABLE": {
+      "Description": "This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.",
+      "DisplayName": "Enable EKF2",
+      "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
         "0": "Disabled",
         "1": "Enabled"
       }
     },
-    "COMPASS_USE2": {
-      "Description": "Enable or disable the secondary compass for determining heading.",
-      "DisplayName": "Compass2 used for yaw",
+    "EK2_FLOW_DELAY": {
+      "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.",
+      "DisplayName": "Optical Flow measurement delay (msec)",
+      "Increment": "10",
+      "Range": {
+        "high": "127",
+        "low": "0"
+      },
+      "RebootRequired": "True",
+      "Units": "ms",
+      "User": "Advanced"
+    },
+    "EK2_FLOW_I_GATE": {
+      "Description": "This sets the percentage 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.",
+      "DisplayName": "Optical Flow measurement gate size",
+      "Increment": "25",
+      "Range": {
+        "high": "1000",
+        "low": "100"
+      },
+      "User": "Advanced"
+    },
+    "EK2_FLOW_M_NSE": {
+      "Description": "This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.",
+      "DisplayName": "Optical flow measurement noise (rad/s)",
+      "Increment": "0.05",
+      "Range": {
+        "high": "1.0",
+        "low": "0.05"
+      },
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "EK2_FLOW_USE": {
+      "Description": "Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.",
+      "DisplayName": "Optical flow use bitmask",
+      "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "None",
+        "1": "Navigation",
+        "2": "Terrain"
       }
     },
-    "COMPASS_USE3": {
-      "Description": "Enable or disable the tertiary compass for determining heading.",
-      "DisplayName": "Compass3 used for yaw",
+    "EK2_GBIAS_P_NSE": {
+      "Description": "This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.",
+      "DisplayName": "Rate gyro bias stability (rad/s/s)",
+      "Range": {
+        "high": "0.001",
+        "low": "0.00001"
+      },
+      "Units": "rad/s/s",
+      "User": "Advanced"
+    },
+    "EK2_GLITCH_RAD": {
+      "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.",
+      "DisplayName": "GPS glitch radius gate size (m)",
+      "Increment": "5",
+      "Range": {
+        "high": "100",
+        "low": "10"
+      },
+      "Units": "m",
+      "User": "Advanced"
+    },
+    "EK2_GPS_CHECK": {
+      "Bitmask": {
+        "0": "NSats",
+        "1": "HDoP",
+        "2": "speed error",
+        "3": "position error",
+        "4": "yaw error",
+        "5": "pos drift",
+        "6": "vert speed",
+        "7": "horiz speed"
+      },
+      "Description": "This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.",
+      "DisplayName": "GPS preflight check",
+      "User": "Advanced"
+    },
+    "EK2_GPS_TYPE": {
+      "Description": "This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.",
+      "DisplayName": "GPS mode control",
       "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    }
-  },
-  "COMPASS_PMOT": {
-    "COMPASS_PMOT1_X": {
-      "Description": "Compensation for X axis of motor1",
-      "DisplayName": "Compass per-motor1 X",
-      "User": "Advanced"
+        "0": "GPS 3D Vel and 2D Pos",
+        "1": "GPS 2D vel and 2D pos",
+        "2": "GPS 2D pos",
+        "3": "No GPS"
+      }
     },
-    "COMPASS_PMOT1_Y": {
-      "Description": "Compensation for Y axis of motor1",
-      "DisplayName": "Compass per-motor1 Y",
+    "EK2_GSCL_P_NSE": {
+      "Description": "This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.",
+      "DisplayName": "Rate gyro scale factor stability (1/s)",
+      "Range": {
+        "high": "0.001",
+        "low": "0.000001"
+      },
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "COMPASS_PMOT1_Z": {
-      "Description": "Compensation for Z axis of motor1",
-      "DisplayName": "Compass per-motor1 Z",
+    "EK2_GSF_RST_MAX": {
+      "Description": "Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.",
+      "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed",
+      "Increment": "1",
+      "Range": {
+        "high": "10",
+        "low": "1"
+      },
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "COMPASS_PMOT2_X": {
-      "Description": "Compensation for X axis of motor2",
-      "DisplayName": "Compass per-motor2 X",
+    "EK2_GSF_RUN_MASK": {
+      "Bitmask": {
+        "0": "FirstEKF",
+        "1": "SecondEKF",
+        "2": "ThirdEKF",
+        "3": "FourthEKF",
+        "4": "FifthEKF",
+        "5": "SixthEKF"
+      },
+      "Description": "A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0. ",
+      "DisplayName": "Bitmask of which EKF-GSF yaw estimators run",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "COMPASS_PMOT2_Y": {
-      "Description": "Compensation for Y axis of motor2",
-      "DisplayName": "Compass per-motor2 Y",
+    "EK2_GSF_USE_MASK": {
+      "Bitmask": {
+        "0": "FirstEKF",
+        "1": "SecondEKF",
+        "2": "ThirdEKF",
+        "3": "FourthEKF",
+        "4": "FifthEKF",
+        "5": "SixthEKF"
+      },
+      "Description": "1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.",
+      "DisplayName": "Bitmask of which EKF-GSF yaw estimators are used",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "COMPASS_PMOT2_Z": {
-      "Description": "Compensation for Z axis of motor2",
-      "DisplayName": "Compass per-motor2 Z",
+    "EK2_GYRO_P_NSE": {
+      "Description": "This control disturbance 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.",
+      "DisplayName": "Rate gyro noise (rad/s)",
+      "Increment": "0.0001",
+      "Range": {
+        "high": "0.1",
+        "low": "0.0001"
+      },
+      "Units": "rad/s",
       "User": "Advanced"
     },
-    "COMPASS_PMOT3_X": {
-      "Description": "Compensation for X axis of motor3",
-      "DisplayName": "Compass per-motor3 X",
+    "EK2_HGT_DELAY": {
+      "Description": "This is the number of msec that the Height measurements lag behind the inertial measurements.",
+      "DisplayName": "Height measurement delay (msec)",
+      "Increment": "10",
+      "Range": {
+        "high": "250",
+        "low": "0"
+      },
+      "RebootRequired": "True",
+      "Units": "ms",
       "User": "Advanced"
     },
-    "COMPASS_PMOT3_Y": {
-      "Description": "Compensation for Y axis of motor3",
-      "DisplayName": "Compass per-motor3 Y",
+    "EK2_HGT_I_GATE": {
+      "Description": "This sets the percentage 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.",
+      "DisplayName": "Height measurement gate size",
+      "Increment": "25",
+      "Range": {
+        "high": "1000",
+        "low": "100"
+      },
       "User": "Advanced"
     },
-    "COMPASS_PMOT3_Z": {
-      "Description": "Compensation for Z axis of motor3",
-      "DisplayName": "Compass per-motor3 Z",
-      "User": "Advanced"
+    "EK2_HRT_FILT": {
+      "Description": "Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.",
+      "DisplayName": "Height rate filter crossover frequency",
+      "Range": {
+        "high": "30.0",
+        "low": "0.1"
+      },
+      "Units": "Hz"
     },
-    "COMPASS_PMOT4_X": {
-      "Description": "Compensation for X axis of motor4",
-      "DisplayName": "Compass per-motor4 X",
+    "EK2_IMU_MASK": {
+      "Bitmask": {
+        "0": "FirstIMU",
+        "1": "SecondIMU",
+        "2": "ThirdIMU",
+        "3": "FourthIMU",
+        "4": "FifthIMU",
+        "5": "SixthIMU"
+      },
+      "Description": "1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.",
+      "DisplayName": "Bitmask of active IMUs",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "COMPASS_PMOT4_Y": {
-      "Description": "Compensation for Y axis of motor4",
-      "DisplayName": "Compass per-motor4 Y",
+    "EK2_MAGB_P_NSE": {
+      "Description": "This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.",
+      "DisplayName": "Body magnetic field process noise (gauss/s)",
+      "Range": {
+        "high": "0.01",
+        "low": "0.00001"
+      },
+      "Units": "Gauss/s",
       "User": "Advanced"
     },
-    "COMPASS_PMOT4_Z": {
-      "Description": "Compensation for Z axis of motor4",
-      "DisplayName": "Compass per-motor4 Z",
+    "EK2_MAGE_P_NSE": {
+      "Description": "This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.",
+      "DisplayName": "Earth magnetic field process noise (gauss/s)",
+      "Range": {
+        "high": "0.01",
+        "low": "0.00001"
+      },
+      "Units": "Gauss/s",
       "User": "Advanced"
     },
-    "COMPASS_PMOT_EN": {
-      "Description": "This enables per-motor compass corrections",
-      "DisplayName": "per-motor compass correction enable",
+    "EK2_MAG_CAL": {
+      "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.",
+      "DisplayName": "Magnetometer default fusion mode",
       "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "When flying",
+        "1": "When manoeuvring",
+        "2": "Never",
+        "3": "After first climb yaw reset",
+        "4": "Always"
       }
     },
-    "COMPASS_PMOT_EXP": {
-      "Description": "This is the exponential correction for the power output of the motor for per-motor compass correction",
-      "DisplayName": "per-motor exponential correction",
-      "Increment": "0.01",
+    "EK2_MAG_EF_LIM": {
+      "Description": "This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.",
+      "DisplayName": "EarthField error limit",
       "Range": {
-        "high": "2",
+        "high": "500",
         "low": "0"
       },
+      "Units": "mGauss",
       "User": "Advanced"
-    }
-  },
-  "CUST_ROT": {
-    "CUST_ROT_ENABLE": {
-      "Description": "This enables custom rotations",
-      "DisplayName": "Enable Custom rotations",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disable",
-        "1": "Enable"
-      }
-    }
-  },
-  "CUST_ROT1_": {
-    "CUST_ROT1_PITCH": {
-      "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering",
-      "DisplayName": "Custom pitch",
-      "RebootRequired": "True",
-      "Units": "deg"
-    },
-    "CUST_ROT1_ROLL": {
-      "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering",
-      "DisplayName": "Custom roll",
-      "RebootRequired": "True",
-      "Units": "deg"
-    },
-    "CUST_ROT1_YAW": {
-      "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering",
-      "DisplayName": "Custom yaw",
-      "RebootRequired": "True",
-      "Units": "deg"
-    }
-  },
-  "CUST_ROT2_": {
-    "CUST_ROT2_PITCH": {
-      "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering",
-      "DisplayName": "Custom pitch",
-      "RebootRequired": "True",
-      "Units": "deg"
-    },
-    "CUST_ROT2_ROLL": {
-      "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering",
-      "DisplayName": "Custom roll",
-      "RebootRequired": "True",
-      "Units": "deg"
-    },
-    "CUST_ROT2_YAW": {
-      "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering",
-      "DisplayName": "Custom yaw",
-      "RebootRequired": "True",
-      "Units": "deg"
-    }
-  },
-  "DDS": {
-    "DDS_ENABLE": {
-      "Description": "Enable DDS subsystem",
-      "DisplayName": "DDS enable",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
     },
-    "DDS_UDP_PORT": {
-      "Description": "UDP port number for DDS",
-      "DisplayName": "DDS UDP port",
+    "EK2_MAG_I_GATE": {
+      "Description": "This sets the percentage 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.",
+      "DisplayName": "Magnetometer measurement gate size",
+      "Increment": "25",
       "Range": {
-        "high": "65535",
-        "low": "1"
+        "high": "1000",
+        "low": "100"
       },
-      "RebootRequired": "True",
-      "User": "Standard"
-    }
-  },
-  "DDS_IP": {
-    "DDS_IP0": {
-      "Description": "IPv4 address. Example: 192.xxx.xxx.xxx",
-      "DisplayName": "IPv4 Address 1st byte",
-      "Range": {
-        "high": "255",
-        "low": "0"
+      "User": "Advanced"
+    },
+    "EK2_MAG_MASK": {
+      "Bitmask": {
+        "0": "FirstEKF",
+        "1": "SecondEKF",
+        "2": "ThirdEKF",
+        "3": "FourthEKF",
+        "4": "FifthEKF",
+        "5": "SixthEKF"
       },
-      "RebootRequired": "True"
+      "Description": "1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.",
+      "DisplayName": "Bitmask of active EKF cores that will always use heading fusion",
+      "RebootRequired": "True",
+      "User": "Advanced"
     },
-    "DDS_IP1": {
-      "Description": "IPv4 address. Example: xxx.168.xxx.xxx",
-      "DisplayName": "IPv4 Address 2nd byte",
+    "EK2_MAG_M_NSE": {
+      "Description": "This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.",
+      "DisplayName": "Magnetometer measurement noise (Gauss)",
+      "Increment": "0.01",
       "Range": {
-        "high": "255",
-        "low": "0"
+        "high": "0.5",
+        "low": "0.01"
       },
-      "RebootRequired": "True"
+      "Units": "Gauss",
+      "User": "Advanced"
     },
-    "DDS_IP2": {
-      "Description": "IPv4 address. Example: xxx.xxx.13.xxx",
-      "DisplayName": "IPv4 Address 3rd byte",
+    "EK2_MAX_FLOW": {
+      "Description": "This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter",
+      "DisplayName": "Maximum valid optical flow rate",
+      "Increment": "0.1",
       "Range": {
-        "high": "255",
-        "low": "0"
+        "high": "4.0",
+        "low": "1.0"
       },
-      "RebootRequired": "True"
+      "Units": "rad/s",
+      "User": "Advanced"
     },
-    "DDS_IP3": {
-      "Description": "IPv4 address. Example: xxx.xxx.xxx.14",
-      "DisplayName": "IPv4 Address 4th byte",
+    "EK2_NOAID_M_NSE": {
+      "Description": "This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.",
+      "DisplayName": "Non-GPS operation position uncertainty (m)",
       "Range": {
-        "high": "255",
-        "low": "0"
+        "high": "50.0",
+        "low": "0.5"
       },
-      "RebootRequired": "True"
-    }
-  },
-  "DID_": {
-    "DID_BARO_ACC": {
-      "Description": "Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default",
-      "DisplayName": "Barometer vertical accuraacy",
       "Units": "m",
       "User": "Advanced"
     },
-    "DID_CANDRIVER": {
-      "Description": "DroneCAN driver index, 0 to disable DroneCAN",
-      "DisplayName": "DroneCAN driver number",
-      "Values": {
-        "0": "Disabled",
-        "1": "Driver1",
-        "2": "Driver2"
-      }
+    "EK2_OGN_HGT_MASK": {
+      "Bitmask": {
+        "0": "Correct when using Baro height",
+        "1": "Correct when using range finder height",
+        "2": "Apply corrections to local position"
+      },
+      "Description": "When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).",
+      "DisplayName": "Bitmask control of EKF reference height correction",
+      "RebootRequired": "True",
+      "User": "Advanced"
     },
-    "DID_ENABLE": {
-      "Description": "Enable ODID subsystem",
-      "DisplayName": "Enable ODID subsystem",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
+    "EK2_POSNE_M_NSE": {
+      "Description": "This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.",
+      "DisplayName": "GPS horizontal position measurement noise (m)",
+      "Increment": "0.1",
+      "Range": {
+        "high": "10.0",
+        "low": "0.1"
+      },
+      "Units": "m",
+      "User": "Advanced"
     },
-    "DID_MAVPORT": {
-      "Description": "Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.",
-      "DisplayName": "MAVLink serial port",
-      "Values": {
-        "-1": "Disabled",
-        "0": "Serial0",
-        "1": "Serial1",
-        "2": "Serial2",
-        "3": "Serial3",
-        "4": "Serial4",
-        "5": "Serial5",
-        "6": "Serial6"
-      }
+    "EK2_POS_I_GATE": {
+      "Description": "This sets the percentage 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.",
+      "DisplayName": "GPS position measurement gate size",
+      "Increment": "25",
+      "Range": {
+        "high": "1000",
+        "low": "100"
+      },
+      "User": "Advanced"
     },
-    "DID_OPTIONS": {
-      "Bitmask": {
-        "0": "EnforceArming",
-        "1": "AllowNonGPSPosition",
-        "2": "LockUASIDOnFirstBasicIDRx"
+    "EK2_RNG_I_GATE": {
+      "Description": "This sets the percentage 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.",
+      "DisplayName": "Range finder measurement gate size",
+      "Increment": "25",
+      "Range": {
+        "high": "1000",
+        "low": "100"
       },
-      "Description": "Options for OpenDroneID subsystem",
-      "DisplayName": "OpenDroneID options"
-    }
-  },
-  "EAHRS": {
-    "EAHRS_OPTIONS": {
-      "Bitmask": {
-        "0": "Vector Nav use uncompensated values for accel gyro and mag."
+      "User": "Advanced"
+    },
+    "EK2_RNG_M_NSE": {
+      "Description": "This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.",
+      "DisplayName": "Range finder measurement noise (m)",
+      "Increment": "0.1",
+      "Range": {
+        "high": "10.0",
+        "low": "0.1"
       },
-      "Description": "External AHRS options bitmask",
-      "DisplayName": "External AHRS options",
-      "User": "Standard"
+      "Units": "m",
+      "User": "Advanced"
     },
-    "EAHRS_RATE": {
-      "Description": "Requested rate for AHRS device",
-      "DisplayName": "AHRS data rate",
-      "Units": "Hz",
-      "User": "Standard"
+    "EK2_RNG_USE_HGT": {
+      "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.",
+      "DisplayName": "Range finder switch height percentage",
+      "Increment": "1",
+      "Range": {
+        "high": "70",
+        "low": "-1"
+      },
+      "Units": "%",
+      "User": "Advanced"
     },
-    "EAHRS_SENSORS": {
-      "Bitmask": {
-        "0": "GPS",
-        "1": "IMU",
-        "2": "Baro",
-        "3": "Compass"
+    "EK2_RNG_USE_SPD": {
+      "Description": "The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.",
+      "DisplayName": "Range finder max ground speed",
+      "Increment": "0.5",
+      "Range": {
+        "high": "6.0",
+        "low": "2.0"
       },
-      "Description": "External AHRS sensors bitmask",
-      "DisplayName": "External AHRS sensors",
+      "Units": "m/s",
       "User": "Advanced"
     },
-    "EAHRS_TYPE": {
-      "Description": "Type of AHRS device",
-      "DisplayName": "AHRS type",
-      "User": "Standard",
-      "Values": {
-        "0": "None",
-        "1": "VectorNav",
-        "2": "MicroStrain5",
-        "5": "InertialLabs",
-        "7": "MicroStrain7"
-      }
-    }
-  },
-  "EFI": {
-    "EFI_COEF1": {
-      "Description": "Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle",
-      "DisplayName": "EFI Calibration Coefficient 1",
+    "EK2_TAU_OUTPUT": {
+      "Description": "Sets the time constant of the output complementary filter/predictor in centi-seconds.",
+      "DisplayName": "Output complementary filter time constant (centi-sec)",
+      "Increment": "5",
       "Range": {
-        "high": "1",
-        "low": "0"
+        "high": "50",
+        "low": "10"
       },
+      "Units": "cs",
       "User": "Advanced"
     },
-    "EFI_COEF2": {
-      "Description": "Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1",
-      "DisplayName": "EFI Calibration Coefficient 2",
+    "EK2_TERR_GRAD": {
+      "Description": "Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.",
+      "DisplayName": "Maximum terrain gradient",
+      "Increment": "0.01",
       "Range": {
-        "high": "10",
+        "high": "0.2",
         "low": "0"
       },
       "User": "Advanced"
     },
-    "EFI_FUEL_DENS": {
-      "Description": "Used to calculate fuel consumption",
-      "DisplayName": "ECU Fuel Density",
+    "EK2_VELD_M_NSE": {
+      "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.",
+      "DisplayName": "GPS vertical velocity measurement noise (m/s)",
+      "Increment": "0.05",
       "Range": {
-        "high": "10000",
-        "low": "0"
+        "high": "5.0",
+        "low": "0.05"
       },
-      "Units": "kg/m/m/m",
+      "Units": "m/s",
       "User": "Advanced"
     },
-    "EFI_TYPE": {
-      "Description": "What method of communication is used for EFI #1",
-      "DisplayName": "EFI communication type",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "1": "Serial-MS",
-        "2": "NWPMU",
-        "3": "Serial-Lutan",
-        "5": "DroneCAN",
-        "6": "Currawong-ECU",
-        "7": "Scripting",
-        "8": "Hirth",
-        "9": "MAV"
-      }
-    }
-  },
-  "EFI_THRLIN": {
-    "EFI_THRLIN_COEF1": {
-      "Description": "First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)",
-      "DisplayName": "Throttle linearisation - First Order",
+    "EK2_VELNE_M_NSE": {
+      "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.",
+      "DisplayName": "GPS horizontal velocity measurement noise (m/s)",
+      "Increment": "0.05",
+      "Range": {
+        "high": "5.0",
+        "low": "0.05"
+      },
+      "Units": "m/s",
+      "User": "Advanced"
+    },
+    "EK2_VEL_I_GATE": {
+      "Description": "This sets the percentage number of standard deviations applied to the GPS velocity 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.",
+      "DisplayName": "GPS velocity innovation gate size",
+      "Increment": "25",
       "Range": {
-        "high": "1",
-        "low": "-1"
+        "high": "1000",
+        "low": "100"
       },
-      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EFI_THRLIN_COEF2": {
-      "Description": "Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)",
-      "DisplayName": "Throttle linearisation - Second Order",
+    "EK2_WIND_PSCALE": {
+      "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.",
+      "DisplayName": "Height rate to wind process noise scaler",
+      "Increment": "0.1",
       "Range": {
-        "high": "1",
-        "low": "-1"
+        "high": "1.0",
+        "low": "0.0"
       },
-      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EFI_THRLIN_COEF3": {
-      "Description": "Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)",
-      "DisplayName": "Throttle linearisation - Third Order",
+    "EK2_WIND_P_NSE": {
+      "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.",
+      "DisplayName": "Wind velocity process noise (m/s^2)",
+      "Increment": "0.1",
       "Range": {
-        "high": "1",
-        "low": "-1"
+        "high": "1.0",
+        "low": "0.01"
       },
-      "RebootRequired": "True",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "EFI_THRLIN_EN": {
-      "Description": "Enable EFI throttle linearisation",
-      "DisplayName": "Enable throttle linearisation",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
+    "EK2_YAW_I_GATE": {
+      "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw 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.",
+      "DisplayName": "Yaw measurement gate size",
+      "Increment": "25",
+      "Range": {
+        "high": "1000",
+        "low": "100"
+      },
+      "User": "Advanced"
     },
-    "EFI_THRLIN_OFS": {
-      "Description": "Offset for throttle linearization ",
-      "DisplayName": "throttle linearization offset",
+    "EK2_YAW_M_NSE": {
+      "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.",
+      "DisplayName": "Yaw measurement noise (rad)",
+      "Increment": "0.05",
       "Range": {
-        "high": "100",
-        "low": "0"
+        "high": "1.0",
+        "low": "0.05"
       },
-      "RebootRequired": "True",
+      "Units": "rad",
       "User": "Advanced"
     }
   },
-  "EK2_": {
-    "EK2_ABIAS_P_NSE": {
+  "EK3_": {
+    "EK3_ABIAS_P_NSE": {
       "Description": "This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.",
       "DisplayName": "Accelerometer bias stability (m/s^3)",
       "Range": {
-        "high": "0.005",
+        "high": "0.02",
         "low": "0.00001"
       },
       "Units": "m/s/s/s",
       "User": "Advanced"
     },
-    "EK2_ACC_P_NSE": {
+    "EK3_ACC_BIAS_LIM": {
+      "Description": "The accelerometer bias state will be limited to +- this value",
+      "DisplayName": "Accelerometer bias limit",
+      "Increment": "0.1",
+      "Range": {
+        "high": "2.5",
+        "low": "0.5"
+      },
+      "Units": "m/s/s",
+      "User": "Advanced"
+    },
+    "EK3_ACC_P_NSE": {
       "Description": "This control disturbance 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.",
       "DisplayName": "Accelerometer noise (m/s^2)",
       "Increment": "0.01",
@@ -19266,42 +18479,42 @@
       "Units": "m/s/s",
       "User": "Advanced"
     },
-    "EK2_ALT_M_NSE": {
-      "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.",
+    "EK3_AFFINITY": {
+      "Bitmask": {
+        "0": "EnableGPSAffinity",
+        "1": "EnableBaroAffinity",
+        "2": "EnableCompassAffinity",
+        "3": "EnableAirspeedAffinity"
+      },
+      "Description": "These options control the affinity between sensor instances and EKF cores",
+      "DisplayName": "EKF3 Sensor Affinity Options",
+      "RebootRequired": "True",
+      "User": "Advanced"
+    },
+    "EK3_ALT_M_NSE": {
+      "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.",
       "DisplayName": "Altitude measurement noise (m)",
       "Increment": "0.1",
       "Range": {
-        "high": "10.0",
+        "high": "100.0",
         "low": "0.1"
       },
       "Units": "m",
       "User": "Advanced"
     },
-    "EK2_ALT_SOURCE": {
-      "Description": "Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).",
-      "DisplayName": "Primary altitude sensor source",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Use Baro",
-        "1": "Use Range Finder",
-        "2": "Use GPS",
-        "3": "Use Range Beacon"
-      }
-    },
-    "EK2_BCN_DELAY": {
-      "Description": "This is the number of msec that the range beacon 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.",
+    "EK3_BCN_DELAY": {
+      "Description": "This is the number of msec that the range beacon measurements lag behind the inertial measurements.",
       "DisplayName": "Range beacon measurement delay (msec)",
       "Increment": "10",
       "Range": {
-        "high": "127",
+        "high": "250",
         "low": "0"
       },
       "RebootRequired": "True",
       "Units": "ms",
       "User": "Advanced"
     },
-    "EK2_BCN_I_GTE": {
+    "EK3_BCN_I_GTE": {
       "Description": "This sets the percentage number of standard deviations applied to the range beacon 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.",
       "DisplayName": "Range beacon measurement gate size",
       "Increment": "25",
@@ -19311,7 +18524,7 @@
       },
       "User": "Advanced"
     },
-    "EK2_BCN_M_NSE": {
+    "EK3_BCN_M_NSE": {
       "Description": "This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.",
       "DisplayName": "Range beacon measurement noise (m)",
       "Increment": "0.1",
@@ -19322,7 +18535,17 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "EK2_CHECK_SCALE": {
+    "EK3_BETA_MASK": {
+      "Bitmask": {
+        "0": "Always",
+        "1": "WhenNoYawSensor"
+      },
+      "Description": "1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected  whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.",
+      "DisplayName": "Bitmask controlling sidelip angle fusion",
+      "RebootRequired": "True",
+      "User": "Advanced"
+    },
+    "EK3_CHECK_SCALE": {
       "Description": "This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.",
       "DisplayName": "GPS accuracy check scaler (%)",
       "Range": {
@@ -19332,7 +18555,49 @@
       "Units": "%",
       "User": "Advanced"
     },
-    "EK2_EAS_I_GATE": {
+    "EK3_DRAG_BCOEF_X": {
+      "Description": "Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.",
+      "DisplayName": "Ballistic coefficient for X axis drag",
+      "Range": {
+        "high": "1000.0",
+        "low": "0.0"
+      },
+      "Units": "kg/m/m",
+      "User": "Advanced"
+    },
+    "EK3_DRAG_BCOEF_Y": {
+      "Description": "Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.",
+      "DisplayName": "Ballistic coefficient for Y axis drag",
+      "Range": {
+        "high": "1000.0",
+        "low": "50.0"
+      },
+      "Units": "kg/m/m",
+      "User": "Advanced"
+    },
+    "EK3_DRAG_MCOEF": {
+      "Description": "This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.",
+      "DisplayName": "Momentum coefficient for propeller drag",
+      "Increment": "0.01",
+      "Range": {
+        "high": "1.0",
+        "low": "0.0"
+      },
+      "Units": "1/s",
+      "User": "Advanced"
+    },
+    "EK3_DRAG_M_NSE": {
+      "Description": "This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters",
+      "DisplayName": "Observation noise for drag acceleration",
+      "Increment": "0.1",
+      "Range": {
+        "high": "2.0",
+        "low": "0.1"
+      },
+      "Units": "m/s/s",
+      "User": "Advanced"
+    },
+    "EK3_EAS_I_GATE": {
       "Description": "This sets the percentage 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.",
       "DisplayName": "Airspeed measurement gate size",
       "Increment": "25",
@@ -19342,7 +18607,7 @@
       },
       "User": "Advanced"
     },
-    "EK2_EAS_M_NSE": {
+    "EK3_EAS_M_NSE": {
       "Description": "This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.",
       "DisplayName": "Equivalent airspeed measurement noise (m/s)",
       "Increment": "0.1",
@@ -19353,9 +18618,9 @@
       "Units": "m/s",
       "User": "Advanced"
     },
-    "EK2_ENABLE": {
-      "Description": "This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.",
-      "DisplayName": "Enable EKF2",
+    "EK3_ENABLE": {
+      "Description": "This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.",
+      "DisplayName": "Enable EKF3",
       "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
@@ -19363,19 +18628,29 @@
         "1": "Enabled"
       }
     },
-    "EK2_FLOW_DELAY": {
+    "EK3_ERR_THRESH": {
+      "Description": "lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences",
+      "DisplayName": "EKF3 Lane Relative Error Sensitivity Threshold",
+      "Increment": "0.05",
+      "Range": {
+        "high": "1",
+        "low": "0.05"
+      },
+      "User": "Advanced"
+    },
+    "EK3_FLOW_DELAY": {
       "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.",
       "DisplayName": "Optical Flow measurement delay (msec)",
       "Increment": "10",
       "Range": {
-        "high": "127",
+        "high": "250",
         "low": "0"
       },
       "RebootRequired": "True",
       "Units": "ms",
       "User": "Advanced"
     },
-    "EK2_FLOW_I_GATE": {
+    "EK3_FLOW_I_GATE": {
       "Description": "This sets the percentage 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.",
       "DisplayName": "Optical Flow measurement gate size",
       "Increment": "25",
@@ -19385,7 +18660,7 @@
       },
       "User": "Advanced"
     },
-    "EK2_FLOW_M_NSE": {
+    "EK3_FLOW_M_NSE": {
       "Description": "This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.",
       "DisplayName": "Optical flow measurement noise (rad/s)",
       "Increment": "0.05",
@@ -19396,7 +18671,7 @@
       "Units": "rad/s",
       "User": "Advanced"
     },
-    "EK2_FLOW_USE": {
+    "EK3_FLOW_USE": {
       "Description": "Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.",
       "DisplayName": "Optical flow use bitmask",
       "RebootRequired": "True",
@@ -19407,7 +18682,7 @@
         "2": "Terrain"
       }
     },
-    "EK2_GBIAS_P_NSE": {
+    "EK3_GBIAS_P_NSE": {
       "Description": "This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.",
       "DisplayName": "Rate gyro bias stability (rad/s/s)",
       "Range": {
@@ -19417,8 +18692,8 @@
       "Units": "rad/s/s",
       "User": "Advanced"
     },
-    "EK2_GLITCH_RAD": {
-      "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.",
+    "EK3_GLITCH_RAD": {
+      "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.",
       "DisplayName": "GPS glitch radius gate size (m)",
       "Increment": "5",
       "Range": {
@@ -19428,7 +18703,17 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "EK2_GPS_CHECK": {
+    "EK3_GND_EFF_DZ": {
+      "Description": "This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.",
+      "DisplayName": "Baro height ground effect dead zone",
+      "Increment": "0.5",
+      "Range": {
+        "high": "10.0",
+        "low": "0.0"
+      },
+      "User": "Advanced"
+    },
+    "EK3_GPS_CHECK": {
       "Bitmask": {
         "0": "NSats",
         "1": "HDoP",
@@ -19443,29 +18728,19 @@
       "DisplayName": "GPS preflight check",
       "User": "Advanced"
     },
-    "EK2_GPS_TYPE": {
-      "Description": "This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.",
-      "DisplayName": "GPS mode control",
-      "User": "Advanced",
-      "Values": {
-        "0": "GPS 3D Vel and 2D Pos",
-        "1": "GPS 2D vel and 2D pos",
-        "2": "GPS 2D pos",
-        "3": "No GPS"
-      }
-    },
-    "EK2_GSCL_P_NSE": {
-      "Description": "This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.",
-      "DisplayName": "Rate gyro scale factor stability (1/s)",
+    "EK3_GPS_VACC_MAX": {
+      "Description": "Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.",
+      "DisplayName": "GPS vertical accuracy threshold",
+      "Increment": "0.1",
       "Range": {
-        "high": "0.001",
-        "low": "0.000001"
+        "high": "10.0",
+        "low": "0.0"
       },
-      "Units": "Hz",
+      "Units": "m",
       "User": "Advanced"
     },
-    "EK2_GSF_RST_MAX": {
-      "Description": "Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.",
+    "EK3_GSF_RST_MAX": {
+      "Description": "Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.",
       "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed",
       "Increment": "1",
       "Range": {
@@ -19475,7 +18750,7 @@
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK2_GSF_RUN_MASK": {
+    "EK3_GSF_RUN_MASK": {
       "Bitmask": {
         "0": "FirstEKF",
         "1": "SecondEKF",
@@ -19484,12 +18759,12 @@
         "4": "FifthEKF",
         "5": "SixthEKF"
       },
-      "Description": "A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0. ",
+      "Description": "1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. ",
       "DisplayName": "Bitmask of which EKF-GSF yaw estimators run",
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK2_GSF_USE_MASK": {
+    "EK3_GSF_USE_MASK": {
       "Bitmask": {
         "0": "FirstEKF",
         "1": "SecondEKF",
@@ -19498,12 +18773,12 @@
         "4": "FifthEKF",
         "5": "SixthEKF"
       },
-      "Description": "1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.",
+      "Description": "A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.",
       "DisplayName": "Bitmask of which EKF-GSF yaw estimators are used",
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK2_GYRO_P_NSE": {
+    "EK3_GYRO_P_NSE": {
       "Description": "This control disturbance 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.",
       "DisplayName": "Rate gyro noise (rad/s)",
       "Increment": "0.0001",
@@ -19514,7 +18789,7 @@
       "Units": "rad/s",
       "User": "Advanced"
     },
-    "EK2_HGT_DELAY": {
+    "EK3_HGT_DELAY": {
       "Description": "This is the number of msec that the Height measurements lag behind the inertial measurements.",
       "DisplayName": "Height measurement delay (msec)",
       "Increment": "10",
@@ -19526,8 +18801,8 @@
       "Units": "ms",
       "User": "Advanced"
     },
-    "EK2_HGT_I_GATE": {
-      "Description": "This sets the percentage 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.",
+    "EK3_HGT_I_GATE": {
+      "Description": "This sets the percentage 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.  If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.",
       "DisplayName": "Height measurement gate size",
       "Increment": "25",
       "Range": {
@@ -19536,7 +18811,7 @@
       },
       "User": "Advanced"
     },
-    "EK2_HRT_FILT": {
+    "EK3_HRT_FILT": {
       "Description": "Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.",
       "DisplayName": "Height rate filter crossover frequency",
       "Range": {
@@ -19545,7 +18820,7 @@
       },
       "Units": "Hz"
     },
-    "EK2_IMU_MASK": {
+    "EK3_IMU_MASK": {
       "Bitmask": {
         "0": "FirstIMU",
         "1": "SecondIMU",
@@ -19554,12 +18829,22 @@
         "4": "FifthIMU",
         "5": "SixthIMU"
       },
-      "Description": "1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.",
+      "Description": "1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.",
       "DisplayName": "Bitmask of active IMUs",
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK2_MAGB_P_NSE": {
+    "EK3_LOG_LEVEL": {
+      "Description": "Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.",
+      "DisplayName": "Logging Level",
+      "Increment": "1",
+      "Range": {
+        "high": "3",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
+    "EK3_MAGB_P_NSE": {
       "Description": "This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.",
       "DisplayName": "Body magnetic field process noise (gauss/s)",
       "Range": {
@@ -19569,7 +18854,7 @@
       "Units": "Gauss/s",
       "User": "Advanced"
     },
-    "EK2_MAGE_P_NSE": {
+    "EK3_MAGE_P_NSE": {
       "Description": "This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.",
       "DisplayName": "Earth magnetic field process noise (gauss/s)",
       "Range": {
@@ -19579,19 +18864,22 @@
       "Units": "Gauss/s",
       "User": "Advanced"
     },
-    "EK2_MAG_CAL": {
-      "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.",
+    "EK3_MAG_CAL": {
+      "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.",
       "DisplayName": "Magnetometer default fusion mode",
+      "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
         "0": "When flying",
         "1": "When manoeuvring",
         "2": "Never",
         "3": "After first climb yaw reset",
-        "4": "Always"
+        "4": "Always",
+        "5": "Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)",
+        "6": "External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)"
       }
     },
-    "EK2_MAG_EF_LIM": {
+    "EK3_MAG_EF_LIM": {
       "Description": "This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.",
       "DisplayName": "EarthField error limit",
       "Range": {
@@ -19601,7 +18889,7 @@
       "Units": "mGauss",
       "User": "Advanced"
     },
-    "EK2_MAG_I_GATE": {
+    "EK3_MAG_I_GATE": {
       "Description": "This sets the percentage 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.",
       "DisplayName": "Magnetometer measurement gate size",
       "Increment": "25",
@@ -19611,7 +18899,7 @@
       },
       "User": "Advanced"
     },
-    "EK2_MAG_MASK": {
+    "EK3_MAG_MASK": {
       "Bitmask": {
         "0": "FirstEKF",
         "1": "SecondEKF",
@@ -19625,7 +18913,7 @@
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK2_MAG_M_NSE": {
+    "EK3_MAG_M_NSE": {
       "Description": "This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.",
       "DisplayName": "Magnetometer measurement noise (Gauss)",
       "Increment": "0.01",
@@ -19636,7 +18924,7 @@
       "Units": "Gauss",
       "User": "Advanced"
     },
-    "EK2_MAX_FLOW": {
+    "EK3_MAX_FLOW": {
       "Description": "This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter",
       "DisplayName": "Maximum valid optical flow rate",
       "Increment": "0.1",
@@ -19647,7 +18935,7 @@
       "Units": "rad/s",
       "User": "Advanced"
     },
-    "EK2_NOAID_M_NSE": {
+    "EK3_NOAID_M_NSE": {
       "Description": "This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.",
       "DisplayName": "Non-GPS operation position uncertainty (m)",
       "Range": {
@@ -19657,7 +18945,17 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "EK2_OGN_HGT_MASK": {
+    "EK3_OGNM_TEST_SF": {
+      "Description": "This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.",
+      "DisplayName": "On ground not moving test scale factor",
+      "Increment": "0.5",
+      "Range": {
+        "high": "10.0",
+        "low": "1.0"
+      },
+      "User": "Advanced"
+    },
+    "EK3_OGN_HGT_MASK": {
       "Bitmask": {
         "0": "Correct when using Baro height",
         "1": "Correct when using range finder height",
@@ -19668,7 +18966,7 @@
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK2_POSNE_M_NSE": {
+    "EK3_POSNE_M_NSE": {
       "Description": "This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.",
       "DisplayName": "GPS horizontal position measurement noise (m)",
       "Increment": "0.1",
@@ -19679,8 +18977,8 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "EK2_POS_I_GATE": {
-      "Description": "This sets the percentage 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.",
+    "EK3_POS_I_GATE": {
+      "Description": "This sets the percentage 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. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.",
       "DisplayName": "GPS position measurement gate size",
       "Increment": "25",
       "Range": {
@@ -19689,7 +18987,17 @@
       },
       "User": "Advanced"
     },
-    "EK2_RNG_I_GATE": {
+    "EK3_PRIMARY": {
+      "Description": "The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.",
+      "DisplayName": "Primary core number",
+      "Increment": "1",
+      "Range": {
+        "high": "2",
+        "low": "0"
+      },
+      "User": "Advanced"
+    },
+    "EK3_RNG_I_GATE": {
       "Description": "This sets the percentage 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.",
       "DisplayName": "Range finder measurement gate size",
       "Increment": "25",
@@ -19699,7 +19007,7 @@
       },
       "User": "Advanced"
     },
-    "EK2_RNG_M_NSE": {
+    "EK3_RNG_M_NSE": {
       "Description": "This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.",
       "DisplayName": "Range finder measurement noise (m)",
       "Increment": "0.1",
@@ -19710,8 +19018,8 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "EK2_RNG_USE_HGT": {
-      "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.",
+    "EK3_RNG_USE_HGT": {
+      "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.",
       "DisplayName": "Range finder switch height percentage",
       "Increment": "1",
       "Range": {
@@ -19721,7 +19029,7 @@
       "Units": "%",
       "User": "Advanced"
     },
-    "EK2_RNG_USE_SPD": {
+    "EK3_RNG_USE_SPD": {
       "Description": "The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.",
       "DisplayName": "Range finder max ground speed",
       "Increment": "0.5",
@@ -19732,7 +19040,7 @@
       "Units": "m/s",
       "User": "Advanced"
     },
-    "EK2_TAU_OUTPUT": {
+    "EK3_TAU_OUTPUT": {
       "Description": "Sets the time constant of the output complementary filter/predictor in centi-seconds.",
       "DisplayName": "Output complementary filter time constant (centi-sec)",
       "Increment": "5",
@@ -19743,8 +19051,8 @@
       "Units": "cs",
       "User": "Advanced"
     },
-    "EK2_TERR_GRAD": {
-      "Description": "Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.",
+    "EK3_TERR_GRAD": {
+      "Description": "Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference",
       "DisplayName": "Maximum terrain gradient",
       "Increment": "0.01",
       "Range": {
@@ -19753,7 +19061,7 @@
       },
       "User": "Advanced"
     },
-    "EK2_VELD_M_NSE": {
+    "EK3_VELD_M_NSE": {
       "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.",
       "DisplayName": "GPS vertical velocity measurement noise (m/s)",
       "Increment": "0.05",
@@ -19764,7 +19072,7 @@
       "Units": "m/s",
       "User": "Advanced"
     },
-    "EK2_VELNE_M_NSE": {
+    "EK3_VELNE_M_NSE": {
       "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.",
       "DisplayName": "GPS horizontal velocity measurement noise (m/s)",
       "Increment": "0.05",
@@ -19775,8 +19083,8 @@
       "Units": "m/s",
       "User": "Advanced"
     },
-    "EK2_VEL_I_GATE": {
-      "Description": "This sets the percentage number of standard deviations applied to the GPS velocity 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.",
+    "EK3_VEL_I_GATE": {
+      "Description": "This sets the percentage number of standard deviations applied to the GPS velocity 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. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.",
       "DisplayName": "GPS velocity innovation gate size",
       "Increment": "25",
       "Range": {
@@ -19785,2010 +19093,2351 @@
       },
       "User": "Advanced"
     },
-    "EK2_WIND_PSCALE": {
-      "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.",
-      "DisplayName": "Height rate to wind process noise scaler",
-      "Increment": "0.1",
-      "Range": {
-        "high": "1.0",
-        "low": "0.0"
-      },
-      "User": "Advanced"
-    },
-    "EK2_WIND_P_NSE": {
-      "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.",
-      "DisplayName": "Wind velocity process noise (m/s^2)",
+    "EK3_VIS_VERR_MAX": {
+      "Description": "This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.",
+      "DisplayName": "Visual odometry maximum velocity error",
       "Increment": "0.1",
       "Range": {
-        "high": "1.0",
-        "low": "0.01"
-      },
-      "Units": "m/s/s",
-      "User": "Advanced"
-    },
-    "EK2_YAW_I_GATE": {
-      "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw 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.",
-      "DisplayName": "Yaw measurement gate size",
-      "Increment": "25",
-      "Range": {
-        "high": "1000",
-        "low": "100"
+        "high": "5.0",
+        "low": "0.5"
       },
+      "Units": "m/s",
       "User": "Advanced"
     },
-    "EK2_YAW_M_NSE": {
-      "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.",
-      "DisplayName": "Yaw measurement noise (rad)",
+    "EK3_VIS_VERR_MIN": {
+      "Description": "This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.",
+      "DisplayName": "Visual odometry minimum velocity error",
       "Increment": "0.05",
       "Range": {
-        "high": "1.0",
+        "high": "0.5",
         "low": "0.05"
       },
-      "Units": "rad",
-      "User": "Advanced"
-    }
-  },
-  "EK3_": {
-    "EK3_ABIAS_P_NSE": {
-      "Description": "This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.",
-      "DisplayName": "Accelerometer bias stability (m/s^3)",
-      "Range": {
-        "high": "0.02",
-        "low": "0.00001"
-      },
-      "Units": "m/s/s/s",
+      "Units": "m/s",
       "User": "Advanced"
     },
-    "EK3_ACC_BIAS_LIM": {
-      "Description": "The accelerometer bias state will be limited to +- this value",
-      "DisplayName": "Accelerometer bias limit",
+    "EK3_WENC_VERR": {
+      "Description": "This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.",
+      "DisplayName": "Wheel odometry velocity error",
       "Increment": "0.1",
-      "Range": {
-        "high": "2.5",
-        "low": "0.5"
-      },
-      "Units": "m/s/s",
-      "User": "Advanced"
-    },
-    "EK3_ACC_P_NSE": {
-      "Description": "This control disturbance 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.",
-      "DisplayName": "Accelerometer noise (m/s^2)",
-      "Increment": "0.01",
       "Range": {
         "high": "1.0",
         "low": "0.01"
       },
-      "Units": "m/s/s",
-      "User": "Advanced"
-    },
-    "EK3_AFFINITY": {
-      "Bitmask": {
-        "0": "EnableGPSAffinity",
-        "1": "EnableBaroAffinity",
-        "2": "EnableCompassAffinity",
-        "3": "EnableAirspeedAffinity"
-      },
-      "Description": "These options control the affinity between sensor instances and EKF cores",
-      "DisplayName": "EKF3 Sensor Affinity Options",
-      "RebootRequired": "True",
-      "User": "Advanced"
-    },
-    "EK3_ALT_M_NSE": {
-      "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.",
-      "DisplayName": "Altitude measurement noise (m)",
-      "Increment": "0.1",
-      "Range": {
-        "high": "100.0",
-        "low": "0.1"
-      },
-      "Units": "m",
-      "User": "Advanced"
-    },
-    "EK3_BCN_DELAY": {
-      "Description": "This is the number of msec that the range beacon measurements lag behind the inertial measurements.",
-      "DisplayName": "Range beacon measurement delay (msec)",
-      "Increment": "10",
-      "Range": {
-        "high": "250",
-        "low": "0"
-      },
-      "RebootRequired": "True",
-      "Units": "ms",
-      "User": "Advanced"
-    },
-    "EK3_BCN_I_GTE": {
-      "Description": "This sets the percentage number of standard deviations applied to the range beacon 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.",
-      "DisplayName": "Range beacon measurement gate size",
-      "Increment": "25",
-      "Range": {
-        "high": "1000",
-        "low": "100"
-      },
+      "Units": "m/s",
       "User": "Advanced"
     },
-    "EK3_BCN_M_NSE": {
-      "Description": "This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.",
-      "DisplayName": "Range beacon measurement noise (m)",
+    "EK3_WIND_PSCALE": {
+      "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.",
+      "DisplayName": "Height rate to wind process noise scaler",
       "Increment": "0.1",
       "Range": {
-        "high": "10.0",
-        "low": "0.1"
-      },
-      "Units": "m",
-      "User": "Advanced"
-    },
-    "EK3_BETA_MASK": {
-      "Bitmask": {
-        "0": "Always",
-        "1": "WhenNoYawSensor"
-      },
-      "Description": "1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected  whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.",
-      "DisplayName": "Bitmask controlling sidelip angle fusion",
-      "RebootRequired": "True",
-      "User": "Advanced"
-    },
-    "EK3_CHECK_SCALE": {
-      "Description": "This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.",
-      "DisplayName": "GPS accuracy check scaler (%)",
-      "Range": {
-        "high": "200",
-        "low": "50"
+        "high": "2.0",
+        "low": "0.0"
       },
-      "Units": "%",
       "User": "Advanced"
     },
-    "EK3_DRAG_BCOEF_X": {
-      "Description": "Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.",
-      "DisplayName": "Ballistic coefficient for X axis drag",
+    "EK3_WIND_P_NSE": {
+      "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.",
+      "DisplayName": "Wind velocity process noise (m/s^2)",
+      "Increment": "0.1",
       "Range": {
-        "high": "1000.0",
-        "low": "0.0"
+        "high": "2.0",
+        "low": "0.01"
       },
-      "Units": "kg/m/m",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "EK3_DRAG_BCOEF_Y": {
-      "Description": "Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.",
-      "DisplayName": "Ballistic coefficient for Y axis drag",
+    "EK3_YAW_I_GATE": {
+      "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw 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.",
+      "DisplayName": "Yaw measurement gate size",
+      "Increment": "25",
       "Range": {
-        "high": "1000.0",
-        "low": "50.0"
+        "high": "1000",
+        "low": "100"
       },
-      "Units": "kg/m/m",
       "User": "Advanced"
     },
-    "EK3_DRAG_MCOEF": {
-      "Description": "This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.",
-      "DisplayName": "Momentum coefficient for propeller drag",
-      "Increment": "0.01",
+    "EK3_YAW_M_NSE": {
+      "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.",
+      "DisplayName": "Yaw measurement noise (rad)",
+      "Increment": "0.05",
       "Range": {
         "high": "1.0",
-        "low": "0.0"
+        "low": "0.05"
       },
-      "Units": "1/s",
+      "Units": "rad",
       "User": "Advanced"
+    }
+  },
+  "EK3_SRC": {
+    "EK3_SRC1_POSXY": {
+      "Description": "Position Horizontal Source (Primary)",
+      "DisplayName": "Position Horizontal Source (Primary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "3": "GPS",
+        "4": "Beacon",
+        "6": "ExternalNav"
+      }
     },
-    "EK3_DRAG_M_NSE": {
-      "Description": "This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters",
-      "DisplayName": "Observation noise for drag acceleration",
-      "Increment": "0.1",
-      "Range": {
-        "high": "2.0",
-        "low": "0.1"
+    "EK3_SRC1_POSZ": {
+      "Description": "Position Vertical Source",
+      "DisplayName": "Position Vertical Source",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "Baro",
+        "2": "RangeFinder",
+        "3": "GPS",
+        "4": "Beacon",
+        "6": "ExternalNav"
+      }
+    },
+    "EK3_SRC1_VELXY": {
+      "Description": "Velocity Horizontal Source",
+      "DisplayName": "Velocity Horizontal Source",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "3": "GPS",
+        "4": "Beacon",
+        "5": "OpticalFlow",
+        "6": "ExternalNav",
+        "7": "WheelEncoder"
+      }
+    },
+    "EK3_SRC1_VELZ": {
+      "Description": "Velocity Vertical Source",
+      "DisplayName": "Velocity Vertical Source",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "3": "GPS",
+        "4": "Beacon",
+        "6": "ExternalNav"
+      }
+    },
+    "EK3_SRC1_YAW": {
+      "Description": "Yaw Source",
+      "DisplayName": "Yaw Source",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "Compass",
+        "2": "GPS",
+        "3": "GPS with Compass Fallback",
+        "6": "ExternalNav",
+        "8": "GSF"
+      }
+    },
+    "EK3_SRC2_POSXY": {
+      "Description": "Position Horizontal Source (Secondary)",
+      "DisplayName": "Position Horizontal Source (Secondary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "3": "GPS",
+        "4": "Beacon",
+        "6": "ExternalNav"
+      }
+    },
+    "EK3_SRC2_POSZ": {
+      "Description": "Position Vertical Source (Secondary)",
+      "DisplayName": "Position Vertical Source (Secondary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "Baro",
+        "2": "RangeFinder",
+        "3": "GPS",
+        "4": "Beacon",
+        "6": "ExternalNav"
+      }
+    },
+    "EK3_SRC2_VELXY": {
+      "Description": "Velocity Horizontal Source (Secondary)",
+      "DisplayName": "Velocity Horizontal Source (Secondary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "3": "GPS",
+        "4": "Beacon",
+        "5": "OpticalFlow",
+        "6": "ExternalNav",
+        "7": "WheelEncoder"
+      }
+    },
+    "EK3_SRC2_VELZ": {
+      "Description": "Velocity Vertical Source (Secondary)",
+      "DisplayName": "Velocity Vertical Source (Secondary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "3": "GPS",
+        "4": "Beacon",
+        "6": "ExternalNav"
+      }
+    },
+    "EK3_SRC2_YAW": {
+      "Description": "Yaw Source (Secondary)",
+      "DisplayName": "Yaw Source (Secondary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "Compass",
+        "2": "GPS",
+        "3": "GPS with Compass Fallback",
+        "6": "ExternalNav",
+        "8": "GSF"
+      }
+    },
+    "EK3_SRC3_POSXY": {
+      "Description": "Position Horizontal Source (Tertiary)",
+      "DisplayName": "Position Horizontal Source (Tertiary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "3": "GPS",
+        "4": "Beacon",
+        "6": "ExternalNav"
+      }
+    },
+    "EK3_SRC3_POSZ": {
+      "Description": "Position Vertical Source (Tertiary)",
+      "DisplayName": "Position Vertical Source (Tertiary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "Baro",
+        "2": "RangeFinder",
+        "3": "GPS",
+        "4": "Beacon",
+        "6": "ExternalNav"
+      }
+    },
+    "EK3_SRC3_VELXY": {
+      "Description": "Velocity Horizontal Source (Tertiary)",
+      "DisplayName": "Velocity Horizontal Source (Tertiary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "3": "GPS",
+        "4": "Beacon",
+        "5": "OpticalFlow",
+        "6": "ExternalNav",
+        "7": "WheelEncoder"
+      }
+    },
+    "EK3_SRC3_VELZ": {
+      "Description": "Velocity Vertical Source (Tertiary)",
+      "DisplayName": "Velocity Vertical Source (Tertiary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "3": "GPS",
+        "4": "Beacon",
+        "6": "ExternalNav"
+      }
+    },
+    "EK3_SRC3_YAW": {
+      "Description": "Yaw Source (Tertiary)",
+      "DisplayName": "Yaw Source (Tertiary)",
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "Compass",
+        "2": "GPS",
+        "3": "GPS with Compass Fallback",
+        "6": "ExternalNav",
+        "8": "GSF"
+      }
+    },
+    "EK3_SRC_OPTIONS": {
+      "Bitmask": {
+        "0": "FuseAllVelocities"
       },
-      "Units": "m/s/s",
+      "Description": "EKF Source Options",
+      "DisplayName": "EKF Source Options",
       "User": "Advanced"
+    }
+  },
+  "ESC_TLM": {
+    "ESC_TLM_MAV_OFS": {
+      "Description": "Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets",
+      "DisplayName": "ESC Telemetry mavlink offset",
+      "Increment": "1",
+      "Range": {
+        "high": "31",
+        "low": "0"
+      },
+      "User": "Standard"
+    }
+  },
+  "FENCE_": {
+    "FENCE_ACTION": {
+      "Description": "What action should be taken when fence is breached",
+      "DisplayName": "Fence Action",
+      "User": "Standard",
+      "Values": {
+        "0": "Report Only",
+        "1": "RTL or Land"
+      }
     },
-    "EK3_EAS_I_GATE": {
-      "Description": "This sets the percentage 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.",
-      "DisplayName": "Airspeed measurement gate size",
-      "Increment": "25",
+    "FENCE_ALT_MAX": {
+      "Description": "Maximum altitude allowed before geofence triggers",
+      "DisplayName": "Fence Maximum Altitude",
+      "Increment": "1",
       "Range": {
         "high": "1000",
-        "low": "100"
+        "low": "10"
       },
-      "User": "Advanced"
+      "Units": "m",
+      "User": "Standard"
     },
-    "EK3_EAS_M_NSE": {
-      "Description": "This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.",
-      "DisplayName": "Equivalent airspeed measurement noise (m/s)",
-      "Increment": "0.1",
+    "FENCE_ALT_MIN": {
+      "Description": "Minimum altitude allowed before geofence triggers",
+      "DisplayName": "Fence Minimum Altitude",
+      "Increment": "1",
       "Range": {
-        "high": "5.0",
-        "low": "0.5"
+        "high": "100",
+        "low": "-100"
       },
-      "Units": "m/s",
-      "User": "Advanced"
+      "Units": "m",
+      "User": "Standard"
     },
-    "EK3_ENABLE": {
-      "Description": "This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.",
-      "DisplayName": "Enable EKF3",
-      "RebootRequired": "True",
-      "User": "Advanced",
+    "FENCE_ENABLE": {
+      "Description": "Allows you to enable (1) or disable (0) the fence functionality",
+      "DisplayName": "Fence enable/disable",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
         "1": "Enabled"
       }
     },
-    "EK3_ERR_THRESH": {
-      "Description": "lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences",
-      "DisplayName": "EKF3 Lane Relative Error Sensitivity Threshold",
-      "Increment": "0.05",
+    "FENCE_MARGIN": {
+      "Description": "Distance that autopilot's should maintain from the fence to avoid a breach",
+      "DisplayName": "Fence Margin",
       "Range": {
-        "high": "1",
-        "low": "0.05"
+        "high": "10",
+        "low": "1"
       },
-      "User": "Advanced"
+      "Units": "m",
+      "User": "Standard"
     },
-    "EK3_FLOW_DELAY": {
-      "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.",
-      "DisplayName": "Optical Flow measurement delay (msec)",
-      "Increment": "10",
+    "FENCE_RADIUS": {
+      "Description": "Circle fence radius which when breached will cause an RTL",
+      "DisplayName": "Circular Fence Radius",
       "Range": {
-        "high": "250",
-        "low": "0"
+        "high": "10000",
+        "low": "30"
       },
-      "RebootRequired": "True",
-      "Units": "ms",
-      "User": "Advanced"
+      "Units": "m",
+      "User": "Standard"
     },
-    "EK3_FLOW_I_GATE": {
-      "Description": "This sets the percentage 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.",
-      "DisplayName": "Optical Flow measurement gate size",
-      "Increment": "25",
+    "FENCE_TOTAL": {
+      "Description": "Number of polygon points saved in eeprom (do not update manually)",
+      "DisplayName": "Fence polygon point total",
       "Range": {
-        "high": "1000",
-        "low": "100"
+        "high": "20",
+        "low": "1"
+      },
+      "User": "Standard"
+    },
+    "FENCE_TYPE": {
+      "Bitmask": {
+        "0": "Max altitude",
+        "1": "Circle Centered on Home",
+        "2": "Inclusion/Exclusion Circles+Polygons",
+        "3": "Min altitude"
+      },
+      "Description": "Enabled fence types held as bitmask",
+      "DisplayName": "Fence Type",
+      "User": "Standard"
+    }
+  },
+  "FFT_": {
+    "FFT_ATT_REF": {
+      "Description": "FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.",
+      "DisplayName": "FFT attenuation for bandwidth calculation",
+      "Range": {
+        "high": "100",
+        "low": "0"
       },
       "User": "Advanced"
     },
-    "EK3_FLOW_M_NSE": {
-      "Description": "This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.",
-      "DisplayName": "Optical flow measurement noise (rad/s)",
-      "Increment": "0.05",
+    "FFT_BW_HOVER": {
+      "Description": "FFT learned bandwidth at hover for the attenuation frequencies.",
+      "DisplayName": "FFT learned bandwidth at hover",
       "Range": {
-        "high": "1.0",
-        "low": "0.05"
+        "high": "200",
+        "low": "0"
       },
-      "Units": "rad/s",
       "User": "Advanced"
     },
-    "EK3_FLOW_USE": {
-      "Description": "Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.",
-      "DisplayName": "Optical flow use bitmask",
+    "FFT_ENABLE": {
+      "Description": "Enable Gyro FFT analyser",
+      "DisplayName": "Enable",
       "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "Navigation",
-        "2": "Terrain"
+        "0": "Disabled",
+        "1": "Enabled"
       }
     },
-    "EK3_GBIAS_P_NSE": {
-      "Description": "This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.",
-      "DisplayName": "Rate gyro bias stability (rad/s/s)",
+    "FFT_FREQ_HOVER": {
+      "Description": "The learned hover noise frequency",
+      "DisplayName": "FFT learned hover frequency",
       "Range": {
-        "high": "0.001",
-        "low": "0.00001"
+        "high": "250",
+        "low": "0"
       },
-      "Units": "rad/s/s",
       "User": "Advanced"
     },
-    "EK3_GLITCH_RAD": {
-      "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.",
-      "DisplayName": "GPS glitch radius gate size (m)",
-      "Increment": "5",
+    "FFT_HMNC_FIT": {
+      "Description": "FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.",
+      "DisplayName": "FFT harmonic fit frequency threshold",
       "Range": {
         "high": "100",
-        "low": "10"
+        "low": "0"
       },
-      "Units": "m",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK3_GND_EFF_DZ": {
-      "Description": "This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.",
-      "DisplayName": "Baro height ground effect dead zone",
-      "Increment": "0.5",
-      "Range": {
-        "high": "10.0",
-        "low": "0.0"
-      },
-      "User": "Advanced"
+    "FFT_HMNC_PEAK": {
+      "Description": "The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).",
+      "DisplayName": "FFT harmonic peak target",
+      "User": "Advanced",
+      "Values": {
+        "0": "Auto",
+        "1": "Center Frequency",
+        "2": "Lower-Shoulder Frequency",
+        "3": "Upper-Shoulder Frequency",
+        "4": "Roll-Axis",
+        "5": "Pitch-Axis"
+      }
     },
-    "EK3_GPS_CHECK": {
-      "Bitmask": {
-        "0": "NSats",
-        "1": "HDoP",
-        "2": "speed error",
-        "3": "position error",
-        "4": "yaw error",
-        "5": "pos drift",
-        "6": "vert speed",
-        "7": "horiz speed"
+    "FFT_MAXHZ": {
+      "Description": "Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.",
+      "DisplayName": "Maximum Frequency",
+      "Range": {
+        "high": "495",
+        "low": "20"
       },
-      "Description": "This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.",
-      "DisplayName": "GPS preflight check",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "EK3_GPS_VACC_MAX": {
-      "Description": "Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.",
-      "DisplayName": "GPS vertical accuracy threshold",
-      "Increment": "0.1",
+    "FFT_MINHZ": {
+      "Description": "Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.",
+      "DisplayName": "Minimum Frequency",
       "Range": {
-        "high": "10.0",
-        "low": "0.0"
+        "high": "400",
+        "low": "20"
       },
-      "Units": "m",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "EK3_GSF_RST_MAX": {
-      "Description": "Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.",
-      "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed",
-      "Increment": "1",
+    "FFT_NUM_FRAMES": {
+      "Description": "Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.",
+      "DisplayName": "FFT output frames to retain and average",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "8",
+        "low": "0"
       },
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK3_GSF_RUN_MASK": {
+    "FFT_OPTIONS": {
       "Bitmask": {
-        "0": "FirstEKF",
-        "1": "SecondEKF",
-        "2": "ThirdEKF",
-        "3": "FourthEKF",
-        "4": "FifthEKF",
-        "5": "SixthEKF"
+        "0": "Enable post-filter FFT",
+        "1": "Check motor noise"
       },
-      "Description": "1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. ",
-      "DisplayName": "Bitmask of which EKF-GSF yaw estimators run",
+      "Description": "FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference",
+      "DisplayName": "FFT options",
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK3_GSF_USE_MASK": {
-      "Bitmask": {
-        "0": "FirstEKF",
-        "1": "SecondEKF",
-        "2": "ThirdEKF",
-        "3": "FourthEKF",
-        "4": "FifthEKF",
-        "5": "SixthEKF"
+    "FFT_SAMPLE_MODE": {
+      "Description": "Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.",
+      "DisplayName": "Sample Mode",
+      "Range": {
+        "high": "4",
+        "low": "0"
       },
-      "Description": "A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.",
-      "DisplayName": "Bitmask of which EKF-GSF yaw estimators are used",
       "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK3_GYRO_P_NSE": {
-      "Description": "This control disturbance 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.",
-      "DisplayName": "Rate gyro noise (rad/s)",
-      "Increment": "0.0001",
+    "FFT_SNR_REF": {
+      "Description": "FFT SNR reference threshold in dB at which a signal is determined to be present.",
+      "DisplayName": "FFT SNR reference threshold",
+      "Range": {
+        "high": "100.0",
+        "low": "0.0"
+      },
+      "User": "Advanced"
+    },
+    "FFT_THR_REF": {
+      "Description": "FFT learned thrust reference for the hover frequency and FFT minimum frequency.",
+      "DisplayName": "FFT learned thrust reference",
       "Range": {
-        "high": "0.1",
-        "low": "0.0001"
+        "high": "0.9",
+        "low": "0.01"
       },
-      "Units": "rad/s",
       "User": "Advanced"
     },
-    "EK3_HGT_DELAY": {
-      "Description": "This is the number of msec that the Height measurements lag behind the inertial measurements.",
-      "DisplayName": "Height measurement delay (msec)",
-      "Increment": "10",
+    "FFT_WINDOW_OLAP": {
+      "Description": "Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.",
+      "DisplayName": "FFT window overlap",
       "Range": {
-        "high": "250",
+        "high": "0.9",
         "low": "0"
       },
       "RebootRequired": "True",
-      "Units": "ms",
       "User": "Advanced"
     },
-    "EK3_HGT_I_GATE": {
-      "Description": "This sets the percentage 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.  If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.",
-      "DisplayName": "Height measurement gate size",
-      "Increment": "25",
+    "FFT_WINDOW_SIZE": {
+      "Description": "Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.",
+      "DisplayName": "FFT window size",
       "Range": {
-        "high": "1000",
-        "low": "100"
+        "high": "1024",
+        "low": "32"
+      },
+      "RebootRequired": "True",
+      "User": "Advanced"
+    }
+  },
+  "FILT1_": {
+    "FILT1_NOTCH_ATT": {
+      "Description": "Notch Filter attenuation in dB.",
+      "DisplayName": "Notch Filter attenuation",
+      "Range": {
+        "high": "50",
+        "low": "5"
       },
+      "Units": "dB",
       "User": "Advanced"
     },
-    "EK3_HRT_FILT": {
-      "Description": "Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.",
-      "DisplayName": "Height rate filter crossover frequency",
+    "FILT1_NOTCH_FREQ": {
+      "Description": "Notch Filter center frequency in Hz.",
+      "DisplayName": "Notch Filter center frequency",
       "Range": {
-        "high": "30.0",
-        "low": "0.1"
+        "high": "495",
+        "low": "10"
       },
-      "Units": "Hz"
+      "Units": "Hz",
+      "User": "Advanced"
     },
-    "EK3_IMU_MASK": {
-      "Bitmask": {
-        "0": "FirstIMU",
-        "1": "SecondIMU",
-        "2": "ThirdIMU",
-        "3": "FourthIMU",
-        "4": "FifthIMU",
-        "5": "SixthIMU"
+    "FILT1_NOTCH_Q": {
+      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
+      "DisplayName": "Notch Filter quality factor",
+      "Range": {
+        "high": "10",
+        "low": "1"
       },
-      "Description": "1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.",
-      "DisplayName": "Bitmask of active IMUs",
-      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "EK3_LOG_LEVEL": {
-      "Description": "Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.",
-      "DisplayName": "Logging Level",
-      "Increment": "1",
+    "FILT1_TYPE": {
+      "Description": "Filter Type",
+      "DisplayName": "Filter Type",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disable",
+        "1": "Notch Filter"
+      }
+    }
+  },
+  "FILT2_": {
+    "FILT2_NOTCH_ATT": {
+      "Description": "Notch Filter attenuation in dB.",
+      "DisplayName": "Notch Filter attenuation",
       "Range": {
-        "high": "3",
-        "low": "0"
+        "high": "50",
+        "low": "5"
       },
+      "Units": "dB",
       "User": "Advanced"
     },
-    "EK3_MAGB_P_NSE": {
-      "Description": "This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.",
-      "DisplayName": "Body magnetic field process noise (gauss/s)",
+    "FILT2_NOTCH_FREQ": {
+      "Description": "Notch Filter center frequency in Hz.",
+      "DisplayName": "Notch Filter center frequency",
       "Range": {
-        "high": "0.01",
-        "low": "0.00001"
+        "high": "495",
+        "low": "10"
       },
-      "Units": "Gauss/s",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "EK3_MAGE_P_NSE": {
-      "Description": "This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.",
-      "DisplayName": "Earth magnetic field process noise (gauss/s)",
+    "FILT2_NOTCH_Q": {
+      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
+      "DisplayName": "Notch Filter quality factor",
       "Range": {
-        "high": "0.01",
-        "low": "0.00001"
+        "high": "10",
+        "low": "1"
       },
-      "Units": "Gauss/s",
       "User": "Advanced"
     },
-    "EK3_MAG_CAL": {
-      "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.",
-      "DisplayName": "Magnetometer default fusion mode",
+    "FILT2_TYPE": {
+      "Description": "Filter Type",
+      "DisplayName": "Filter Type",
       "RebootRequired": "True",
-      "User": "Advanced",
+      "User": "Standard",
       "Values": {
-        "0": "When flying",
-        "1": "When manoeuvring",
-        "2": "Never",
-        "3": "After first climb yaw reset",
-        "4": "Always",
-        "5": "Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)",
-        "6": "External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)"
+        "0": "Disable",
+        "1": "Notch Filter"
       }
-    },
-    "EK3_MAG_EF_LIM": {
-      "Description": "This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.",
-      "DisplayName": "EarthField error limit",
+    }
+  },
+  "FILT3_": {
+    "FILT3_NOTCH_ATT": {
+      "Description": "Notch Filter attenuation in dB.",
+      "DisplayName": "Notch Filter attenuation",
       "Range": {
-        "high": "500",
-        "low": "0"
+        "high": "50",
+        "low": "5"
       },
-      "Units": "mGauss",
+      "Units": "dB",
       "User": "Advanced"
     },
-    "EK3_MAG_I_GATE": {
-      "Description": "This sets the percentage 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.",
-      "DisplayName": "Magnetometer measurement gate size",
-      "Increment": "25",
+    "FILT3_NOTCH_FREQ": {
+      "Description": "Notch Filter center frequency in Hz.",
+      "DisplayName": "Notch Filter center frequency",
       "Range": {
-        "high": "1000",
-        "low": "100"
-      },
-      "User": "Advanced"
-    },
-    "EK3_MAG_MASK": {
-      "Bitmask": {
-        "0": "FirstEKF",
-        "1": "SecondEKF",
-        "2": "ThirdEKF",
-        "3": "FourthEKF",
-        "4": "FifthEKF",
-        "5": "SixthEKF"
+        "high": "495",
+        "low": "10"
       },
-      "Description": "1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.",
-      "DisplayName": "Bitmask of active EKF cores that will always use heading fusion",
-      "RebootRequired": "True",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "EK3_MAG_M_NSE": {
-      "Description": "This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.",
-      "DisplayName": "Magnetometer measurement noise (Gauss)",
-      "Increment": "0.01",
+    "FILT3_NOTCH_Q": {
+      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
+      "DisplayName": "Notch Filter quality factor",
       "Range": {
-        "high": "0.5",
-        "low": "0.01"
+        "high": "10",
+        "low": "1"
       },
-      "Units": "Gauss",
       "User": "Advanced"
     },
-    "EK3_MAX_FLOW": {
-      "Description": "This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter",
-      "DisplayName": "Maximum valid optical flow rate",
-      "Increment": "0.1",
+    "FILT3_TYPE": {
+      "Description": "Filter Type",
+      "DisplayName": "Filter Type",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disable",
+        "1": "Notch Filter"
+      }
+    }
+  },
+  "FILT4_": {
+    "FILT4_NOTCH_ATT": {
+      "Description": "Notch Filter attenuation in dB.",
+      "DisplayName": "Notch Filter attenuation",
       "Range": {
-        "high": "4.0",
-        "low": "1.0"
+        "high": "50",
+        "low": "5"
       },
-      "Units": "rad/s",
+      "Units": "dB",
       "User": "Advanced"
     },
-    "EK3_NOAID_M_NSE": {
-      "Description": "This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.",
-      "DisplayName": "Non-GPS operation position uncertainty (m)",
+    "FILT4_NOTCH_FREQ": {
+      "Description": "Notch Filter center frequency in Hz.",
+      "DisplayName": "Notch Filter center frequency",
       "Range": {
-        "high": "50.0",
-        "low": "0.5"
+        "high": "495",
+        "low": "10"
       },
-      "Units": "m",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "EK3_OGNM_TEST_SF": {
-      "Description": "This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.",
-      "DisplayName": "On ground not moving test scale factor",
-      "Increment": "0.5",
+    "FILT4_NOTCH_Q": {
+      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
+      "DisplayName": "Notch Filter quality factor",
       "Range": {
-        "high": "10.0",
-        "low": "1.0"
+        "high": "10",
+        "low": "1"
       },
       "User": "Advanced"
     },
-    "EK3_OGN_HGT_MASK": {
-      "Bitmask": {
-        "0": "Correct when using Baro height",
-        "1": "Correct when using range finder height",
-        "2": "Apply corrections to local position"
+    "FILT4_TYPE": {
+      "Description": "Filter Type",
+      "DisplayName": "Filter Type",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disable",
+        "1": "Notch Filter"
+      }
+    }
+  },
+  "FILT5_": {
+    "FILT5_NOTCH_ATT": {
+      "Description": "Notch Filter attenuation in dB.",
+      "DisplayName": "Notch Filter attenuation",
+      "Range": {
+        "high": "50",
+        "low": "5"
       },
-      "Description": "When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).",
-      "DisplayName": "Bitmask control of EKF reference height correction",
-      "RebootRequired": "True",
+      "Units": "dB",
       "User": "Advanced"
     },
-    "EK3_POSNE_M_NSE": {
-      "Description": "This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.",
-      "DisplayName": "GPS horizontal position measurement noise (m)",
-      "Increment": "0.1",
+    "FILT5_NOTCH_FREQ": {
+      "Description": "Notch Filter center frequency in Hz.",
+      "DisplayName": "Notch Filter center frequency",
       "Range": {
-        "high": "10.0",
-        "low": "0.1"
+        "high": "495",
+        "low": "10"
       },
-      "Units": "m",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "EK3_POS_I_GATE": {
-      "Description": "This sets the percentage 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. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.",
-      "DisplayName": "GPS position measurement gate size",
-      "Increment": "25",
+    "FILT5_NOTCH_Q": {
+      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
+      "DisplayName": "Notch Filter quality factor",
       "Range": {
-        "high": "1000",
-        "low": "100"
+        "high": "10",
+        "low": "1"
       },
       "User": "Advanced"
     },
-    "EK3_PRIMARY": {
-      "Description": "The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.",
-      "DisplayName": "Primary core number",
-      "Increment": "1",
+    "FILT5_TYPE": {
+      "Description": "Filter Type",
+      "DisplayName": "Filter Type",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disable",
+        "1": "Notch Filter"
+      }
+    }
+  },
+  "FILT6_": {
+    "FILT6_NOTCH_ATT": {
+      "Description": "Notch Filter attenuation in dB.",
+      "DisplayName": "Notch Filter attenuation",
       "Range": {
-        "high": "2",
-        "low": "0"
+        "high": "50",
+        "low": "5"
       },
+      "Units": "dB",
       "User": "Advanced"
     },
-    "EK3_RNG_I_GATE": {
-      "Description": "This sets the percentage 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.",
-      "DisplayName": "Range finder measurement gate size",
-      "Increment": "25",
+    "FILT6_NOTCH_FREQ": {
+      "Description": "Notch Filter center frequency in Hz.",
+      "DisplayName": "Notch Filter center frequency",
       "Range": {
-        "high": "1000",
-        "low": "100"
+        "high": "495",
+        "low": "10"
       },
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "EK3_RNG_M_NSE": {
-      "Description": "This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.",
-      "DisplayName": "Range finder measurement noise (m)",
-      "Increment": "0.1",
+    "FILT6_NOTCH_Q": {
+      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
+      "DisplayName": "Notch Filter quality factor",
       "Range": {
-        "high": "10.0",
-        "low": "0.1"
+        "high": "10",
+        "low": "1"
       },
-      "Units": "m",
       "User": "Advanced"
     },
-    "EK3_RNG_USE_HGT": {
-      "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.",
-      "DisplayName": "Range finder switch height percentage",
-      "Increment": "1",
+    "FILT6_TYPE": {
+      "Description": "Filter Type",
+      "DisplayName": "Filter Type",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disable",
+        "1": "Notch Filter"
+      }
+    }
+  },
+  "FILT7_": {
+    "FILT7_NOTCH_ATT": {
+      "Description": "Notch Filter attenuation in dB.",
+      "DisplayName": "Notch Filter attenuation",
       "Range": {
-        "high": "70",
-        "low": "-1"
+        "high": "50",
+        "low": "5"
       },
-      "Units": "%",
+      "Units": "dB",
       "User": "Advanced"
     },
-    "EK3_RNG_USE_SPD": {
-      "Description": "The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.",
-      "DisplayName": "Range finder max ground speed",
-      "Increment": "0.5",
+    "FILT7_NOTCH_FREQ": {
+      "Description": "Notch Filter center frequency in Hz.",
+      "DisplayName": "Notch Filter center frequency",
       "Range": {
-        "high": "6.0",
-        "low": "2.0"
+        "high": "495",
+        "low": "10"
       },
-      "Units": "m/s",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "EK3_TAU_OUTPUT": {
-      "Description": "Sets the time constant of the output complementary filter/predictor in centi-seconds.",
-      "DisplayName": "Output complementary filter time constant (centi-sec)",
-      "Increment": "5",
+    "FILT7_NOTCH_Q": {
+      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
+      "DisplayName": "Notch Filter quality factor",
       "Range": {
-        "high": "50",
-        "low": "10"
+        "high": "10",
+        "low": "1"
       },
-      "Units": "cs",
       "User": "Advanced"
     },
-    "EK3_TERR_GRAD": {
-      "Description": "Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference",
-      "DisplayName": "Maximum terrain gradient",
-      "Increment": "0.01",
+    "FILT7_TYPE": {
+      "Description": "Filter Type",
+      "DisplayName": "Filter Type",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disable",
+        "1": "Notch Filter"
+      }
+    }
+  },
+  "FILT8_": {
+    "FILT8_NOTCH_ATT": {
+      "Description": "Notch Filter attenuation in dB.",
+      "DisplayName": "Notch Filter attenuation",
       "Range": {
-        "high": "0.2",
-        "low": "0"
+        "high": "50",
+        "low": "5"
       },
+      "Units": "dB",
       "User": "Advanced"
     },
-    "EK3_VELD_M_NSE": {
-      "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.",
-      "DisplayName": "GPS vertical velocity measurement noise (m/s)",
-      "Increment": "0.05",
+    "FILT8_NOTCH_FREQ": {
+      "Description": "Notch Filter center frequency in Hz.",
+      "DisplayName": "Notch Filter center frequency",
       "Range": {
-        "high": "5.0",
-        "low": "0.05"
+        "high": "495",
+        "low": "10"
       },
-      "Units": "m/s",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "EK3_VELNE_M_NSE": {
-      "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.",
-      "DisplayName": "GPS horizontal velocity measurement noise (m/s)",
-      "Increment": "0.05",
+    "FILT8_NOTCH_Q": {
+      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
+      "DisplayName": "Notch Filter quality factor",
       "Range": {
-        "high": "5.0",
-        "low": "0.05"
+        "high": "10",
+        "low": "1"
       },
-      "Units": "m/s",
       "User": "Advanced"
     },
-    "EK3_VEL_I_GATE": {
-      "Description": "This sets the percentage number of standard deviations applied to the GPS velocity 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. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.",
-      "DisplayName": "GPS velocity innovation gate size",
-      "Increment": "25",
+    "FILT8_TYPE": {
+      "Description": "Filter Type",
+      "DisplayName": "Filter Type",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "0": "Disable",
+        "1": "Notch Filter"
+      }
+    }
+  },
+  "FLOW": {
+    "FLOW_ADDR": {
+      "Description": "This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.",
+      "DisplayName": "Address on the bus",
       "Range": {
-        "high": "1000",
-        "low": "100"
+        "high": "127",
+        "low": "0"
       },
       "User": "Advanced"
     },
-    "EK3_VIS_VERR_MAX": {
-      "Description": "This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.",
-      "DisplayName": "Visual odometry maximum velocity error",
-      "Increment": "0.1",
+    "FLOW_FXSCALER": {
+      "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.",
+      "DisplayName": "X axis optical flow scale factor correction",
+      "Increment": "1",
       "Range": {
-        "high": "5.0",
-        "low": "0.5"
+        "high": "+800",
+        "low": "-800"
       },
-      "Units": "m/s",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "EK3_VIS_VERR_MIN": {
-      "Description": "This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.",
-      "DisplayName": "Visual odometry minimum velocity error",
-      "Increment": "0.05",
+    "FLOW_FYSCALER": {
+      "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.",
+      "DisplayName": "Y axis optical flow scale factor correction",
+      "Increment": "1",
       "Range": {
-        "high": "0.5",
-        "low": "0.05"
+        "high": "+800",
+        "low": "-800"
       },
-      "Units": "m/s",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "EK3_WENC_VERR": {
-      "Description": "This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.",
-      "DisplayName": "Wheel odometry velocity error",
-      "Increment": "0.1",
+    "FLOW_HGT_OVR": {
+      "Description": "This is used in rover vehicles, where the sensor is a fixed height above the ground",
+      "DisplayName": "Height override of sensor above ground",
+      "Increment": "0.01",
       "Range": {
-        "high": "1.0",
-        "low": "0.01"
+        "high": "2",
+        "low": "0"
       },
-      "Units": "m/s",
+      "Units": "m",
       "User": "Advanced"
     },
-    "EK3_WIND_PSCALE": {
-      "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.",
-      "DisplayName": "Height rate to wind process noise scaler",
-      "Increment": "0.1",
+    "FLOW_ORIENT_YAW": {
+      "Description": "Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.",
+      "DisplayName": "Flow sensor yaw alignment",
+      "Increment": "10",
       "Range": {
-        "high": "2.0",
-        "low": "0.0"
+        "high": "+18000",
+        "low": "-17999"
       },
-      "User": "Advanced"
+      "Units": "cdeg",
+      "User": "Standard"
     },
-    "EK3_WIND_P_NSE": {
-      "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.",
-      "DisplayName": "Wind velocity process noise (m/s^2)",
-      "Increment": "0.1",
+    "FLOW_POS_X": {
+      "Description": "X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.",
+      "DisplayName": " X position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "2.0",
-        "low": "0.01"
+        "high": "5",
+        "low": "-5"
       },
-      "Units": "m/s/s",
+      "Units": "m",
       "User": "Advanced"
     },
-    "EK3_YAW_I_GATE": {
-      "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw 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.",
-      "DisplayName": "Yaw measurement gate size",
-      "Increment": "25",
+    "FLOW_POS_Y": {
+      "Description": "Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.",
+      "DisplayName": "Y position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "1000",
-        "low": "100"
+        "high": "5",
+        "low": "-5"
       },
+      "Units": "m",
       "User": "Advanced"
     },
-    "EK3_YAW_M_NSE": {
-      "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.",
-      "DisplayName": "Yaw measurement noise (rad)",
-      "Increment": "0.05",
+    "FLOW_POS_Z": {
+      "Description": "Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.",
+      "DisplayName": "Z position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "1.0",
-        "low": "0.05"
+        "high": "5",
+        "low": "-5"
       },
-      "Units": "rad",
+      "Units": "m",
       "User": "Advanced"
-    }
-  },
-  "EK3_SRC": {
-    "EK3_SRC1_POSXY": {
-      "Description": "Position Horizontal Source (Primary)",
-      "DisplayName": "Position Horizontal Source (Primary)",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "3": "GPS",
-        "4": "Beacon",
-        "6": "ExternalNav"
-      }
-    },
-    "EK3_SRC1_POSZ": {
-      "Description": "Position Vertical Source",
-      "DisplayName": "Position Vertical Source",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "1": "Baro",
-        "2": "RangeFinder",
-        "3": "GPS",
-        "4": "Beacon",
-        "6": "ExternalNav"
-      }
-    },
-    "EK3_SRC1_VELXY": {
-      "Description": "Velocity Horizontal Source",
-      "DisplayName": "Velocity Horizontal Source",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "3": "GPS",
-        "4": "Beacon",
-        "5": "OpticalFlow",
-        "6": "ExternalNav",
-        "7": "WheelEncoder"
-      }
-    },
-    "EK3_SRC1_VELZ": {
-      "Description": "Velocity Vertical Source",
-      "DisplayName": "Velocity Vertical Source",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "3": "GPS",
-        "4": "Beacon",
-        "6": "ExternalNav"
-      }
     },
-    "EK3_SRC1_YAW": {
-      "Description": "Yaw Source",
-      "DisplayName": "Yaw Source",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "1": "Compass",
-        "2": "GPS",
-        "3": "GPS with Compass Fallback",
-        "6": "ExternalNav",
-        "8": "GSF"
-      }
-    },
-    "EK3_SRC2_POSXY": {
-      "Description": "Position Horizontal Source (Secondary)",
-      "DisplayName": "Position Horizontal Source (Secondary)",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "3": "GPS",
-        "4": "Beacon",
-        "6": "ExternalNav"
-      }
-    },
-    "EK3_SRC2_POSZ": {
-      "Description": "Position Vertical Source (Secondary)",
-      "DisplayName": "Position Vertical Source (Secondary)",
-      "User": "Advanced",
+    "FLOW_TYPE": {
+      "Description": "Optical flow sensor type",
+      "DisplayName": "Optical flow sensor type",
+      "RebootRequired": "True",
+      "User": "Standard",
       "Values": {
         "0": "None",
-        "1": "Baro",
-        "2": "RangeFinder",
-        "3": "GPS",
-        "4": "Beacon",
-        "6": "ExternalNav"
+        "1": "PX4Flow",
+        "2": "Pixart",
+        "3": "Bebop",
+        "4": "CXOF",
+        "5": "MAVLink",
+        "6": "DroneCAN",
+        "7": "MSP",
+        "8": "UPFLOW"
       }
-    },
-    "EK3_SRC2_VELXY": {
-      "Description": "Velocity Horizontal Source (Secondary)",
-      "DisplayName": "Velocity Horizontal Source (Secondary)",
+    }
+  },
+  "FRSKY_": {
+    "FRSKY_DNLINK1_ID": {
+      "Description": "Change the first extra downlink sensor id (SPort only)",
+      "DisplayName": "First downlink sensor id",
       "User": "Advanced",
       "Values": {
-        "0": "None",
-        "3": "GPS",
-        "4": "Beacon",
-        "5": "OpticalFlow",
-        "6": "ExternalNav",
-        "7": "WheelEncoder"
+        "-1": "Disable",
+        "10": "10",
+        "11": "11",
+        "12": "12",
+        "13": "13",
+        "14": "14",
+        "15": "15",
+        "16": "16",
+        "17": "17",
+        "18": "18",
+        "19": "19",
+        "20": "20",
+        "21": "21",
+        "22": "22",
+        "23": "23",
+        "24": "24",
+        "25": "25",
+        "26": "26",
+        "7": "7",
+        "8": "8",
+        "9": "9"
       }
     },
-    "EK3_SRC2_VELZ": {
-      "Description": "Velocity Vertical Source (Secondary)",
-      "DisplayName": "Velocity Vertical Source (Secondary)",
+    "FRSKY_DNLINK2_ID": {
+      "Description": "Change the second extra downlink sensor id (SPort only)",
+      "DisplayName": "Second downlink sensor id",
       "User": "Advanced",
       "Values": {
-        "0": "None",
-        "3": "GPS",
-        "4": "Beacon",
-        "6": "ExternalNav"
+        "-1": "Disable",
+        "10": "10",
+        "11": "11",
+        "12": "12",
+        "13": "13",
+        "14": "14",
+        "15": "15",
+        "16": "16",
+        "17": "17",
+        "18": "18",
+        "19": "19",
+        "20": "20",
+        "21": "21",
+        "22": "22",
+        "23": "23",
+        "24": "24",
+        "25": "25",
+        "26": "26",
+        "7": "7",
+        "8": "8",
+        "9": "9"
       }
     },
-    "EK3_SRC2_YAW": {
-      "Description": "Yaw Source (Secondary)",
-      "DisplayName": "Yaw Source (Secondary)",
+    "FRSKY_DNLINK_ID": {
+      "Description": "Change the default downlink sensor id (SPort only)",
+      "DisplayName": "Default downlink sensor id",
       "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "Compass",
-        "2": "GPS",
-        "3": "GPS with Compass Fallback",
-        "6": "ExternalNav",
-        "8": "GSF"
+        "-1": "Disable",
+        "10": "10",
+        "11": "11",
+        "12": "12",
+        "13": "13",
+        "14": "14",
+        "15": "15",
+        "16": "16",
+        "17": "17",
+        "18": "18",
+        "19": "19",
+        "20": "20",
+        "21": "21",
+        "22": "22",
+        "23": "23",
+        "24": "24",
+        "25": "25",
+        "26": "26",
+        "27": "27",
+        "7": "7",
+        "8": "8",
+        "9": "9"
       }
     },
-    "EK3_SRC3_POSXY": {
-      "Description": "Position Horizontal Source (Tertiary)",
-      "DisplayName": "Position Horizontal Source (Tertiary)",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "3": "GPS",
-        "4": "Beacon",
-        "6": "ExternalNav"
-      }
+    "FRSKY_OPTIONS": {
+      "Bitmask": {
+        "0": "EnableAirspeedAndGroundspeed"
+      },
+      "Description": "A bitmask to set some FRSky Telemetry specific options",
+      "DisplayName": "FRSky Telemetry Options",
+      "User": "Standard"
     },
-    "EK3_SRC3_POSZ": {
-      "Description": "Position Vertical Source (Tertiary)",
-      "DisplayName": "Position Vertical Source (Tertiary)",
+    "FRSKY_UPLINK_ID": {
+      "Description": "Change the uplink sensor id (SPort only)",
+      "DisplayName": "Uplink sensor id",
       "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "Baro",
-        "2": "RangeFinder",
-        "3": "GPS",
-        "4": "Beacon",
-        "6": "ExternalNav"
+        "-1": "Disable",
+        "10": "10",
+        "11": "11",
+        "12": "12",
+        "13": "13",
+        "14": "14",
+        "15": "15",
+        "16": "16",
+        "17": "17",
+        "18": "18",
+        "19": "19",
+        "20": "20",
+        "21": "21",
+        "22": "22",
+        "23": "23",
+        "24": "24",
+        "25": "25",
+        "26": "26",
+        "7": "7",
+        "8": "8",
+        "9": "9"
       }
+    }
+  },
+  "GEN_": {
+    "GEN_OPTIONS": {
+      "Bitmask": {
+        "0": "Suppress Maintenance-Required Warnings"
+      },
+      "Description": "Bitmask of options for generators",
+      "DisplayName": "Generator Options",
+      "User": "Standard"
     },
-    "EK3_SRC3_VELXY": {
-      "Description": "Velocity Horizontal Source (Tertiary)",
-      "DisplayName": "Velocity Horizontal Source (Tertiary)",
-      "User": "Advanced",
+    "GEN_TYPE": {
+      "Description": "Generator type",
+      "DisplayName": "Generator type",
+      "RebootRequired": "True",
+      "User": "Standard",
       "Values": {
-        "0": "None",
-        "3": "GPS",
-        "4": "Beacon",
-        "5": "OpticalFlow",
-        "6": "ExternalNav",
-        "7": "WheelEncoder"
+        "0": "Disabled",
+        "1": "IE 650w 800w Fuel Cell",
+        "2": "IE 2.4kW Fuel Cell",
+        "3": "Richenpower"
       }
+    }
+  },
+  "GPS": {
+    "GPS1_CAN_OVRIDE": {
+      "Description": "GPS Node id for first GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.",
+      "DisplayName": "First DroneCAN GPS NODE ID",
+      "User": "Advanced"
     },
-    "EK3_SRC3_VELZ": {
-      "Description": "Velocity Vertical Source (Tertiary)",
-      "DisplayName": "Velocity Vertical Source (Tertiary)",
+    "GPS2_CAN_OVRIDE": {
+      "Description": "GPS Node id for second GPS. If 0 the gps will be automatically selected on a second-come-second-GPS basis.",
+      "DisplayName": "Second DroneCAN GPS NODE ID",
+      "User": "Advanced"
+    },
+    "GPS_AUTO_CONFIG": {
+      "Description": "Controls if the autopilot should automatically configure the GPS based on the parameters and default settings",
+      "DisplayName": "Automatic GPS configuration",
       "User": "Advanced",
       "Values": {
-        "0": "None",
-        "3": "GPS",
-        "4": "Beacon",
-        "6": "ExternalNav"
+        "0": "Disables automatic configuration",
+        "1": "Enable automatic configuration for Serial GPSes only",
+        "2": "Enable automatic configuration for DroneCAN as well"
       }
     },
-    "EK3_SRC3_YAW": {
-      "Description": "Yaw Source (Tertiary)",
-      "DisplayName": "Yaw Source (Tertiary)",
+    "GPS_AUTO_SWITCH": {
+      "Description": "Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary",
+      "DisplayName": "Automatic Switchover Setting",
       "User": "Advanced",
       "Values": {
-        "0": "None",
-        "1": "Compass",
-        "2": "GPS",
-        "3": "GPS with Compass Fallback",
-        "6": "ExternalNav",
-        "8": "GSF"
+        "0": "Use primary",
+        "1": "UseBest",
+        "2": "Blend",
+        "4": "Use primary if 3D fix or better"
       }
     },
-    "EK3_SRC_OPTIONS": {
+    "GPS_BLEND_MASK": {
       "Bitmask": {
-        "0": "FuseAllVelocities"
+        "0": "Horiz Pos",
+        "1": "Vert Pos",
+        "2": "Speed"
       },
-      "Description": "EKF Source Options",
-      "DisplayName": "EKF Source Options",
+      "Description": "Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)",
+      "DisplayName": "Multi GPS Blending Mask",
       "User": "Advanced"
-    }
-  },
-  "ESC_TLM": {
-    "ESC_TLM_MAV_OFS": {
-      "Description": "Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets",
-      "DisplayName": "ESC Telemetry mavlink offset",
-      "Increment": "1",
-      "Range": {
-        "high": "31",
-        "low": "0"
-      },
-      "User": "Standard"
-    }
-  },
-  "FENCE_": {
-    "FENCE_ACTION": {
-      "Description": "What action should be taken when fence is breached",
-      "DisplayName": "Fence Action",
-      "User": "Standard",
-      "Values": {
-        "0": "Report Only",
-        "1": "RTL or Land"
-      }
     },
-    "FENCE_ALT_MAX": {
-      "Description": "Maximum altitude allowed before geofence triggers",
-      "DisplayName": "Fence Maximum Altitude",
-      "Increment": "1",
-      "Range": {
-        "high": "1000",
-        "low": "10"
-      },
-      "Units": "m",
-      "User": "Standard"
+    "GPS_CAN_NODEID1": {
+      "Description": "GPS Node id for first-discovered GPS.",
+      "DisplayName": "GPS Node ID 1",
+      "ReadOnly": "True",
+      "User": "Advanced"
     },
-    "FENCE_ALT_MIN": {
-      "Description": "Minimum altitude allowed before geofence triggers",
-      "DisplayName": "Fence Minimum Altitude",
+    "GPS_CAN_NODEID2": {
+      "Description": "GPS Node id for second-discovered GPS.",
+      "DisplayName": "GPS Node ID 2",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "GPS_COM_PORT": {
+      "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS",
+      "DisplayName": "GPS physical COM port",
       "Increment": "1",
       "Range": {
-        "high": "100",
-        "low": "-100"
+        "high": "10",
+        "low": "0"
       },
-      "Units": "m",
-      "User": "Standard"
-    },
-    "FENCE_ENABLE": {
-      "Description": "Allows you to enable (1) or disable (0) the fence functionality",
-      "DisplayName": "Fence enable/disable",
-      "User": "Standard",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "COM1(RS232) on GSOF",
+        "1": "COM2(TTL) on GSOF"
       }
     },
-    "FENCE_MARGIN": {
-      "Description": "Distance that autopilot's should maintain from the fence to avoid a breach",
-      "DisplayName": "Fence Margin",
+    "GPS_COM_PORT2": {
+      "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS",
+      "DisplayName": "GPS physical COM port",
+      "Increment": "1",
       "Range": {
         "high": "10",
-        "low": "1"
+        "low": "0"
       },
-      "Units": "m",
-      "User": "Standard"
+      "RebootRequired": "True",
+      "User": "Advanced"
     },
-    "FENCE_RADIUS": {
-      "Description": "Circle fence radius which when breached will cause an RTL",
-      "DisplayName": "Circular Fence Radius",
+    "GPS_DELAY_MS": {
+      "Description": "Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.",
+      "DisplayName": "GPS delay in milliseconds",
       "Range": {
-        "high": "10000",
-        "low": "30"
+        "high": "250",
+        "low": "0"
       },
-      "Units": "m",
-      "User": "Standard"
+      "RebootRequired": "True",
+      "Units": "ms",
+      "User": "Advanced"
     },
-    "FENCE_TOTAL": {
-      "Description": "Number of polygon points saved in eeprom (do not update manually)",
-      "DisplayName": "Fence polygon point total",
+    "GPS_DELAY_MS2": {
+      "Description": "Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.",
+      "DisplayName": "GPS 2 delay in milliseconds",
       "Range": {
-        "high": "20",
-        "low": "1"
+        "high": "250",
+        "low": "0"
       },
-      "User": "Standard"
+      "RebootRequired": "True",
+      "Units": "ms",
+      "User": "Advanced"
     },
-    "FENCE_TYPE": {
+    "GPS_DRV_OPTIONS": {
       "Bitmask": {
-        "0": "Max altitude",
-        "1": "Circle Centered on Home",
-        "2": "Inclusion/Exclusion Circles+Polygons",
-        "3": "Min altitude"
+        "0": "Use UART2 for moving baseline on ublox",
+        "1": "Use base station for GPS yaw on SBF",
+        "2": "Use baudrate 115200",
+        "3": "Use dedicated CAN port b/w GPSes for moving baseline",
+        "4": "Use ellipsoid height instead of AMSL",
+        "5": "Override GPS satellite health of L5 band from L1 health"
       },
-      "Description": "Enabled fence types held as bitmask",
-      "DisplayName": "Fence Type",
-      "User": "Standard"
-    }
-  },
-  "FFT_": {
-    "FFT_ATT_REF": {
-      "Description": "FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.",
-      "DisplayName": "FFT attenuation for bandwidth calculation",
-      "Range": {
-        "high": "100",
-        "low": "0"
+      "Description": "Additional backend specific options",
+      "DisplayName": "driver options",
+      "User": "Advanced"
+    },
+    "GPS_GNSS_MODE": {
+      "Bitmask": {
+        "0": "GPS",
+        "1": "SBAS",
+        "2": "Galileo",
+        "3": "Beidou",
+        "4": "IMES",
+        "5": "QZSS",
+        "6": "GLONASS"
       },
+      "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)",
+      "DisplayName": "GNSS system configuration",
       "User": "Advanced"
     },
-    "FFT_BW_HOVER": {
-      "Description": "FFT learned bandwidth at hover for the attenuation frequencies.",
-      "DisplayName": "FFT learned bandwidth at hover",
-      "Range": {
-        "high": "200",
-        "low": "0"
+    "GPS_GNSS_MODE2": {
+      "Bitmask": {
+        "0": "GPS",
+        "1": "SBAS",
+        "2": "Galileo",
+        "3": "Beidou",
+        "4": "IMES",
+        "5": "QZSS",
+        "6": "GLONASS"
       },
+      "Description": "Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)",
+      "DisplayName": "GNSS system configuration",
       "User": "Advanced"
     },
-    "FFT_ENABLE": {
-      "Description": "Enable Gyro FFT analyser",
-      "DisplayName": "Enable",
-      "RebootRequired": "True",
+    "GPS_INJECT_TO": {
+      "Description": "The GGS can send raw serial packets to inject data to multiple GPSes.",
+      "DisplayName": "Destination for GPS_INJECT_DATA MAVLink packets",
       "User": "Advanced",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
+        "0": "send to first GPS",
+        "1": "send to 2nd GPS",
+        "127": "send to all"
       }
     },
-    "FFT_FREQ_HOVER": {
-      "Description": "The learned hover noise frequency",
-      "DisplayName": "FFT learned hover frequency",
-      "Range": {
-        "high": "250",
-        "low": "0"
-      },
-      "User": "Advanced"
+    "GPS_MIN_DGPS": {
+      "Description": "Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.",
+      "DisplayName": "Minimum Lock Type Accepted for DGPS",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Any",
+        "100": "IntegerRTK",
+        "50": "FloatRTK"
+      }
     },
-    "FFT_HMNC_FIT": {
-      "Description": "FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.",
-      "DisplayName": "FFT harmonic fit frequency threshold",
+    "GPS_MIN_ELEV": {
+      "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.",
+      "DisplayName": "Minimum elevation",
       "Range": {
-        "high": "100",
-        "low": "0"
+        "high": "90",
+        "low": "-100"
       },
-      "RebootRequired": "True",
+      "Units": "deg",
       "User": "Advanced"
     },
-    "FFT_HMNC_PEAK": {
-      "Description": "The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).",
-      "DisplayName": "FFT harmonic peak target",
+    "GPS_NAVFILTER": {
+      "Description": "Navigation filter engine setting",
+      "DisplayName": "Navigation filter setting",
       "User": "Advanced",
       "Values": {
-        "0": "Auto",
-        "1": "Center Frequency",
-        "2": "Lower-Shoulder Frequency",
-        "3": "Upper-Shoulder Frequency",
-        "4": "Roll-Axis",
-        "5": "Pitch-Axis"
+        "0": "Portable",
+        "2": "Stationary",
+        "3": "Pedestrian",
+        "4": "Automotive",
+        "5": "Sea",
+        "6": "Airborne1G",
+        "7": "Airborne2G",
+        "8": "Airborne4G"
       }
     },
-    "FFT_MAXHZ": {
-      "Description": "Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.",
-      "DisplayName": "Maximum Frequency",
+    "GPS_POS1_X": {
+      "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Antenna X position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "495",
-        "low": "20"
+        "high": "5",
+        "low": "-5"
       },
-      "Units": "Hz",
+      "Units": "m",
       "User": "Advanced"
     },
-    "FFT_MINHZ": {
-      "Description": "Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.",
-      "DisplayName": "Minimum Frequency",
+    "GPS_POS1_Y": {
+      "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Antenna Y position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "400",
-        "low": "20"
+        "high": "5",
+        "low": "-5"
       },
-      "Units": "Hz",
+      "Units": "m",
       "User": "Advanced"
     },
-    "FFT_NUM_FRAMES": {
-      "Description": "Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.",
-      "DisplayName": "FFT output frames to retain and average",
+    "GPS_POS1_Z": {
+      "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Antenna Z position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "8",
-        "low": "0"
+        "high": "5",
+        "low": "-5"
       },
-      "RebootRequired": "True",
+      "Units": "m",
       "User": "Advanced"
     },
-    "FFT_OPTIONS": {
-      "Bitmask": {
-        "0": "Enable post-filter FFT",
-        "1": "Check motor noise"
+    "GPS_POS2_X": {
+      "Description": "X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Antenna X position offset",
+      "Increment": "0.01",
+      "Range": {
+        "high": "5",
+        "low": "-5"
       },
-      "Description": "FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference",
-      "DisplayName": "FFT options",
-      "RebootRequired": "True",
+      "Units": "m",
       "User": "Advanced"
     },
-    "FFT_SAMPLE_MODE": {
-      "Description": "Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.",
-      "DisplayName": "Sample Mode",
+    "GPS_POS2_Y": {
+      "Description": "Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Antenna Y position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "4",
-        "low": "0"
+        "high": "5",
+        "low": "-5"
       },
-      "RebootRequired": "True",
+      "Units": "m",
       "User": "Advanced"
     },
-    "FFT_SNR_REF": {
-      "Description": "FFT SNR reference threshold in dB at which a signal is determined to be present.",
-      "DisplayName": "FFT SNR reference threshold",
+    "GPS_POS2_Z": {
+      "Description": "Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Antenna Z position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "100.0",
-        "low": "0.0"
+        "high": "5",
+        "low": "-5"
       },
+      "Units": "m",
       "User": "Advanced"
     },
-    "FFT_THR_REF": {
-      "Description": "FFT learned thrust reference for the hover frequency and FFT minimum frequency.",
-      "DisplayName": "FFT learned thrust reference",
+    "GPS_PRIMARY": {
+      "Description": "This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.",
+      "DisplayName": "Primary GPS",
+      "Increment": "1",
+      "User": "Advanced",
+      "Values": {
+        "0": "FirstGPS",
+        "1": "SecondGPS"
+      }
+    },
+    "GPS_RATE_MS": {
+      "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.",
+      "DisplayName": "GPS update rate in milliseconds",
       "Range": {
-        "high": "0.9",
-        "low": "0.01"
+        "high": "200",
+        "low": "50"
       },
-      "User": "Advanced"
+      "Units": "ms",
+      "User": "Advanced",
+      "Values": {
+        "100": "10Hz",
+        "125": "8Hz",
+        "200": "5Hz"
+      }
     },
-    "FFT_WINDOW_OLAP": {
-      "Description": "Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.",
-      "DisplayName": "FFT window overlap",
+    "GPS_RATE_MS2": {
+      "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.",
+      "DisplayName": "GPS 2 update rate in milliseconds",
       "Range": {
-        "high": "0.9",
-        "low": "0"
+        "high": "200",
+        "low": "50"
       },
+      "Units": "ms",
+      "User": "Advanced",
+      "Values": {
+        "100": "10Hz",
+        "125": "8Hz",
+        "200": "5Hz"
+      }
+    },
+    "GPS_RAW_DATA": {
+      "Description": "Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming",
+      "DisplayName": "Raw data logging",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Ignore",
+        "1": "Always log",
+        "2": "Stop logging when disarmed (SBF only)",
+        "5": "Only log every five samples (uBlox only)"
+      }
+    },
+    "GPS_SAVE_CFG": {
+      "Description": "Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.",
+      "DisplayName": "Save GPS configuration",
+      "User": "Advanced",
+      "Values": {
+        "0": "Do not save config",
+        "1": "Save config",
+        "2": "Save only when needed"
+      }
+    },
+    "GPS_SBAS_MODE": {
+      "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.",
+      "DisplayName": "SBAS Mode",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled",
+        "2": "NoChange"
+      }
+    },
+    "GPS_SBP_LOGMASK": {
+      "Description": "Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged",
+      "DisplayName": "Swift Binary Protocol Logging Mask",
+      "User": "Advanced",
+      "Values": {
+        "-1": "All (0xFFFF)",
+        "-256": "External only (0xFF00)",
+        "0": "None (0x0000)"
+      }
+    },
+    "GPS_TYPE": {
+      "Description": "GPS type of 1st GPS",
+      "DisplayName": "1st GPS type",
       "RebootRequired": "True",
-      "User": "Advanced"
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "AUTO",
+        "10": "SBF",
+        "11": "GSOF",
+        "13": "ERB",
+        "14": "MAV",
+        "15": "NOVA",
+        "16": "HemisphereNMEA",
+        "17": "uBlox-MovingBaseline-Base",
+        "18": "uBlox-MovingBaseline-Rover",
+        "19": "MSP",
+        "2": "uBlox",
+        "20": "AllyStar",
+        "21": "ExternalAHRS",
+        "22": "DroneCAN-MovingBaseline-Base",
+        "23": "DroneCAN-MovingBaseline-Rover",
+        "24": "UnicoreNMEA",
+        "25": "UnicoreMovingBaselineNMEA",
+        "26": "SBF-DualAntenna",
+        "5": "NMEA",
+        "6": "SiRF",
+        "7": "HIL",
+        "8": "SwiftNav",
+        "9": "DroneCAN"
+      }
     },
-    "FFT_WINDOW_SIZE": {
-      "Description": "Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.",
-      "DisplayName": "FFT window size",
-      "Range": {
-        "high": "1024",
-        "low": "32"
-      },
+    "GPS_TYPE2": {
+      "Description": "GPS type of 2nd GPS",
+      "DisplayName": "2nd GPS type",
       "RebootRequired": "True",
-      "User": "Advanced"
+      "User": "Advanced",
+      "Values": {
+        "0": "None",
+        "1": "AUTO",
+        "10": "SBF",
+        "11": "GSOF",
+        "13": "ERB",
+        "14": "MAV",
+        "15": "NOVA",
+        "16": "HemisphereNMEA",
+        "17": "uBlox-MovingBaseline-Base",
+        "18": "uBlox-MovingBaseline-Rover",
+        "19": "MSP",
+        "2": "uBlox",
+        "20": "AllyStar",
+        "21": "ExternalAHRS",
+        "22": "DroneCAN-MovingBaseline-Base",
+        "23": "DroneCAN-MovingBaseline-Rover",
+        "24": "UnicoreNMEA",
+        "25": "UnicoreMovingBaselineNMEA",
+        "26": "SBF-DualAntenna",
+        "5": "NMEA",
+        "6": "SiRF",
+        "7": "HIL",
+        "8": "SwiftNav",
+        "9": "DroneCAN"
+      }
     }
   },
-  "FILT1_": {
-    "FILT1_NOTCH_ATT": {
-      "Description": "Notch Filter attenuation in dB.",
-      "DisplayName": "Notch Filter attenuation",
+  "GPS_MB1_": {
+    "GPS_MB1_OFS_X": {
+      "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Base antenna X position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "50",
-        "low": "5"
+        "high": "5",
+        "low": "-5"
       },
-      "Units": "dB",
+      "Units": "m",
       "User": "Advanced"
     },
-    "FILT1_NOTCH_FREQ": {
-      "Description": "Notch Filter center frequency in Hz.",
-      "DisplayName": "Notch Filter center frequency",
+    "GPS_MB1_OFS_Y": {
+      "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Base antenna Y position offset    ",
+      "Increment": "0.01",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "5",
+        "low": "-5"
       },
-      "Units": "Hz",
+      "Units": "m",
       "User": "Advanced"
     },
-    "FILT1_NOTCH_Q": {
-      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
-      "DisplayName": "Notch Filter quality factor",
+    "GPS_MB1_OFS_Z": {
+      "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Base antenna Z position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "5",
+        "low": "-5"
       },
+      "Units": "m",
       "User": "Advanced"
     },
-    "FILT1_TYPE": {
-      "Description": "Filter Type",
-      "DisplayName": "Filter Type",
+    "GPS_MB1_TYPE": {
+      "Description": "Controls the type of moving base used if using moving base.",
+      "DisplayName": "Moving base type",
       "RebootRequired": "True",
-      "User": "Standard",
+      "User": "Advanced",
       "Values": {
-        "0": "Disable",
-        "1": "Notch Filter"
+        "0": "Relative to alternate GPS instance",
+        "1": "RelativeToCustomBase"
       }
     }
   },
-  "FILT2_": {
-    "FILT2_NOTCH_ATT": {
-      "Description": "Notch Filter attenuation in dB.",
-      "DisplayName": "Notch Filter attenuation",
+  "GPS_MB2_": {
+    "GPS_MB2_OFS_X": {
+      "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Base antenna X position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "50",
-        "low": "5"
+        "high": "5",
+        "low": "-5"
       },
-      "Units": "dB",
+      "Units": "m",
       "User": "Advanced"
     },
-    "FILT2_NOTCH_FREQ": {
-      "Description": "Notch Filter center frequency in Hz.",
-      "DisplayName": "Notch Filter center frequency",
+    "GPS_MB2_OFS_Y": {
+      "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Base antenna Y position offset    ",
+      "Increment": "0.01",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "5",
+        "low": "-5"
       },
-      "Units": "Hz",
+      "Units": "m",
       "User": "Advanced"
     },
-    "FILT2_NOTCH_Q": {
-      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
-      "DisplayName": "Notch Filter quality factor",
+    "GPS_MB2_OFS_Z": {
+      "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
+      "DisplayName": "Base antenna Z position offset",
+      "Increment": "0.01",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "5",
+        "low": "-5"
       },
+      "Units": "m",
       "User": "Advanced"
     },
-    "FILT2_TYPE": {
-      "Description": "Filter Type",
-      "DisplayName": "Filter Type",
+    "GPS_MB2_TYPE": {
+      "Description": "Controls the type of moving base used if using moving base.",
+      "DisplayName": "Moving base type",
       "RebootRequired": "True",
-      "User": "Standard",
+      "User": "Advanced",
       "Values": {
-        "0": "Disable",
-        "1": "Notch Filter"
+        "0": "Relative to alternate GPS instance",
+        "1": "RelativeToCustomBase"
       }
     }
   },
-  "FILT3_": {
-    "FILT3_NOTCH_ATT": {
-      "Description": "Notch Filter attenuation in dB.",
-      "DisplayName": "Notch Filter attenuation",
+  "GRIP_": {
+    "GRIP_AUTOCLOSE": {
+      "Description": "Time in seconds that gripper close the gripper after opening; 0 to disable",
+      "DisplayName": "Gripper Autoclose time",
       "Range": {
-        "high": "50",
-        "low": "5"
+        "high": "255",
+        "low": "0.25"
       },
-      "Units": "dB",
+      "Units": "s",
       "User": "Advanced"
     },
-    "FILT3_NOTCH_FREQ": {
-      "Description": "Notch Filter center frequency in Hz.",
-      "DisplayName": "Notch Filter center frequency",
+    "GRIP_CAN_ID": {
+      "Description": "Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface",
+      "DisplayName": "EPM UAVCAN Hardpoint ID",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "255",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "FILT3_NOTCH_Q": {
-      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
-      "DisplayName": "Notch Filter quality factor",
+    "GRIP_ENABLE": {
+      "Description": "Gripper enable/disable",
+      "DisplayName": "Gripper Enable/Disable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
+    },
+    "GRIP_GRAB": {
+      "Description": "PWM value in microseconds sent to Gripper to initiate grabbing the cargo",
+      "DisplayName": "Gripper Grab PWM",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "2000",
+        "low": "1000"
       },
+      "Units": "PWM",
       "User": "Advanced"
     },
-    "FILT3_TYPE": {
-      "Description": "Filter Type",
-      "DisplayName": "Filter Type",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disable",
-        "1": "Notch Filter"
-      }
-    }
-  },
-  "FILT4_": {
-    "FILT4_NOTCH_ATT": {
-      "Description": "Notch Filter attenuation in dB.",
-      "DisplayName": "Notch Filter attenuation",
+    "GRIP_NEUTRAL": {
+      "Description": "PWM value in microseconds sent to grabber when not grabbing or releasing",
+      "DisplayName": "Neutral PWM",
       "Range": {
-        "high": "50",
-        "low": "5"
+        "high": "2000",
+        "low": "1000"
       },
-      "Units": "dB",
+      "Units": "PWM",
       "User": "Advanced"
     },
-    "FILT4_NOTCH_FREQ": {
-      "Description": "Notch Filter center frequency in Hz.",
-      "DisplayName": "Notch Filter center frequency",
+    "GRIP_REGRAB": {
+      "Description": "Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable",
+      "DisplayName": "EPM Gripper Regrab interval",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "255",
+        "low": "0"
       },
-      "Units": "Hz",
+      "Units": "s",
       "User": "Advanced"
     },
-    "FILT4_NOTCH_Q": {
-      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
-      "DisplayName": "Notch Filter quality factor",
+    "GRIP_RELEASE": {
+      "Description": "PWM value in microseconds sent to Gripper to release the cargo",
+      "DisplayName": "Gripper Release PWM",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "2000",
+        "low": "1000"
       },
+      "Units": "PWM",
       "User": "Advanced"
     },
-    "FILT4_TYPE": {
-      "Description": "Filter Type",
-      "DisplayName": "Filter Type",
-      "RebootRequired": "True",
+    "GRIP_TYPE": {
+      "Description": "Gripper enable/disable",
+      "DisplayName": "Gripper Type",
       "User": "Standard",
       "Values": {
-        "0": "Disable",
-        "1": "Notch Filter"
+        "0": "None",
+        "1": "Servo",
+        "2": "EPM"
       }
     }
   },
-  "FILT5_": {
-    "FILT5_NOTCH_ATT": {
-      "Description": "Notch Filter attenuation in dB.",
-      "DisplayName": "Notch Filter attenuation",
-      "Range": {
-        "high": "50",
-        "low": "5"
-      },
-      "Units": "dB",
+  "INS": {
+    "INS_ACC1_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the 1st accelerometer was calibrated at",
+      "DisplayName": "Calibration temperature for 1st accelerometer",
+      "Units": "degC",
       "User": "Advanced"
     },
-    "FILT5_NOTCH_FREQ": {
-      "Description": "Notch Filter center frequency in Hz.",
-      "DisplayName": "Notch Filter center frequency",
+    "INS_ACC2OFFS_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer2 offsets of X axis",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "Hz",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "FILT5_NOTCH_Q": {
-      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
-      "DisplayName": "Notch Filter quality factor",
+    "INS_ACC2OFFS_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer2 offsets of Y axis",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "3.5",
+        "low": "-3.5"
       },
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "FILT5_TYPE": {
-      "Description": "Filter Type",
-      "DisplayName": "Filter Type",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disable",
-        "1": "Notch Filter"
-      }
-    }
-  },
-  "FILT6_": {
-    "FILT6_NOTCH_ATT": {
-      "Description": "Notch Filter attenuation in dB.",
-      "DisplayName": "Notch Filter attenuation",
+    "INS_ACC2OFFS_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer2 offsets of Z axis",
       "Range": {
-        "high": "50",
-        "low": "5"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "dB",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "FILT6_NOTCH_FREQ": {
-      "Description": "Notch Filter center frequency in Hz.",
-      "DisplayName": "Notch Filter center frequency",
+    "INS_ACC2SCAL_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer2 scaling of X axis",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "1.2",
+        "low": "0.8"
       },
-      "Units": "Hz",
       "User": "Advanced"
     },
-    "FILT6_NOTCH_Q": {
-      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
-      "DisplayName": "Notch Filter quality factor",
+    "INS_ACC2SCAL_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer2 scaling of Y axis",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "1.2",
+        "low": "0.8"
       },
       "User": "Advanced"
     },
-    "FILT6_TYPE": {
-      "Description": "Filter Type",
-      "DisplayName": "Filter Type",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disable",
-        "1": "Notch Filter"
-      }
-    }
-  },
-  "FILT7_": {
-    "FILT7_NOTCH_ATT": {
-      "Description": "Notch Filter attenuation in dB.",
-      "DisplayName": "Notch Filter attenuation",
+    "INS_ACC2SCAL_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer2 scaling of Z axis",
       "Range": {
-        "high": "50",
-        "low": "5"
+        "high": "1.2",
+        "low": "0.8"
       },
-      "Units": "dB",
       "User": "Advanced"
     },
-    "FILT7_NOTCH_FREQ": {
-      "Description": "Notch Filter center frequency in Hz.",
-      "DisplayName": "Notch Filter center frequency",
+    "INS_ACC2_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the 2nd accelerometer was calibrated at",
+      "DisplayName": "Calibration temperature for 2nd accelerometer",
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS_ACC2_ID": {
+      "Description": "Accelerometer2 sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Accelerometer2 ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "INS_ACC3OFFS_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer3 offsets of X axis",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "Hz",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "FILT7_NOTCH_Q": {
-      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
-      "DisplayName": "Notch Filter quality factor",
+    "INS_ACC3OFFS_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer3 offsets of Y axis",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "3.5",
+        "low": "-3.5"
       },
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "FILT7_TYPE": {
-      "Description": "Filter Type",
-      "DisplayName": "Filter Type",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disable",
-        "1": "Notch Filter"
-      }
-    }
-  },
-  "FILT8_": {
-    "FILT8_NOTCH_ATT": {
-      "Description": "Notch Filter attenuation in dB.",
-      "DisplayName": "Notch Filter attenuation",
+    "INS_ACC3OFFS_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer3 offsets of Z axis",
       "Range": {
-        "high": "50",
-        "low": "5"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "dB",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "FILT8_NOTCH_FREQ": {
-      "Description": "Notch Filter center frequency in Hz.",
-      "DisplayName": "Notch Filter center frequency",
+    "INS_ACC3SCAL_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer3 scaling of X axis",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "1.2",
+        "low": "0.8"
       },
-      "Units": "Hz",
       "User": "Advanced"
     },
-    "FILT8_NOTCH_Q": {
-      "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.",
-      "DisplayName": "Notch Filter quality factor",
+    "INS_ACC3SCAL_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer3 scaling of Y axis",
       "Range": {
-        "high": "10",
-        "low": "1"
+        "high": "1.2",
+        "low": "0.8"
       },
       "User": "Advanced"
     },
-    "FILT8_TYPE": {
-      "Description": "Filter Type",
-      "DisplayName": "Filter Type",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disable",
-        "1": "Notch Filter"
-      }
-    }
-  },
-  "FLOW": {
-    "FLOW_ADDR": {
-      "Description": "This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.",
-      "DisplayName": "Address on the bus",
+    "INS_ACC3SCAL_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer3 scaling of Z axis",
       "Range": {
-        "high": "127",
-        "low": "0"
+        "high": "1.2",
+        "low": "0.8"
       },
       "User": "Advanced"
     },
-    "FLOW_FXSCALER": {
-      "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.",
-      "DisplayName": "X axis optical flow scale factor correction",
-      "Increment": "1",
+    "INS_ACC3_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the 3rd accelerometer was calibrated at",
+      "DisplayName": "Calibration temperature for 3rd accelerometer",
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS_ACC3_ID": {
+      "Description": "Accelerometer3 sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Accelerometer3 ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "INS_ACCEL_FILTER": {
+      "Description": "Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)",
+      "DisplayName": "Accel filter cutoff frequency",
       "Range": {
-        "high": "+800",
-        "low": "-800"
+        "high": "256",
+        "low": "0"
       },
-      "User": "Standard"
+      "Units": "Hz",
+      "User": "Advanced"
     },
-    "FLOW_FYSCALER": {
-      "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.",
-      "DisplayName": "Y axis optical flow scale factor correction",
-      "Increment": "1",
+    "INS_ACCOFFS_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer offsets of X axis",
       "Range": {
-        "high": "+800",
-        "low": "-800"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "User": "Standard"
+      "Units": "m/s/s",
+      "User": "Advanced"
     },
-    "FLOW_HGT_OVR": {
-      "Description": "This is used in rover vehicles, where the sensor is a fixed height above the ground",
-      "DisplayName": "Height override of sensor above ground",
-      "Increment": "0.01",
+    "INS_ACCOFFS_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer offsets of Y axis",
       "Range": {
-        "high": "2",
-        "low": "0"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "m",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "FLOW_ORIENT_YAW": {
-      "Description": "Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.",
-      "DisplayName": "Flow sensor yaw alignment",
-      "Increment": "10",
+    "INS_ACCOFFS_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer offsets of Z axis",
       "Range": {
-        "high": "+18000",
-        "low": "-17999"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "cdeg",
-      "User": "Standard"
+      "Units": "m/s/s",
+      "User": "Advanced"
     },
-    "FLOW_POS_X": {
-      "Description": "X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.",
-      "DisplayName": " X position offset",
-      "Increment": "0.01",
+    "INS_ACCSCAL_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer scaling of X axis.  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer scaling of X axis",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "1.2",
+        "low": "0.8"
       },
-      "Units": "m",
       "User": "Advanced"
     },
-    "FLOW_POS_Y": {
-      "Description": "Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.",
-      "DisplayName": "Y position offset",
-      "Increment": "0.01",
+    "INS_ACCSCAL_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer scaling of Y axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer scaling of Y axis",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "1.2",
+        "low": "0.8"
       },
-      "Units": "m",
       "User": "Advanced"
     },
-    "FLOW_POS_Z": {
-      "Description": "Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.",
-      "DisplayName": "Z position offset",
-      "Increment": "0.01",
+    "INS_ACCSCAL_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer scaling of Z axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer scaling of Z axis",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "1.2",
+        "low": "0.8"
       },
-      "Units": "m",
       "User": "Advanced"
     },
-    "FLOW_TYPE": {
-      "Description": "Optical flow sensor type",
-      "DisplayName": "Optical flow sensor type",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "None",
-        "1": "PX4Flow",
-        "2": "Pixart",
-        "3": "Bebop",
-        "4": "CXOF",
-        "5": "MAVLink",
-        "6": "DroneCAN",
-        "7": "MSP",
-        "8": "UPFLOW"
-      }
-    }
-  },
-  "FRSKY_": {
-    "FRSKY_DNLINK1_ID": {
-      "Description": "Change the first extra downlink sensor id (SPort only)",
-      "DisplayName": "First downlink sensor id",
+    "INS_ACC_BODYFIX": {
+      "Description": "The body-fixed accelerometer to be used for trim calculation",
+      "DisplayName": "Body-fixed accelerometer",
       "User": "Advanced",
       "Values": {
-        "-1": "Disable",
-        "10": "10",
-        "11": "11",
-        "12": "12",
-        "13": "13",
-        "14": "14",
-        "15": "15",
-        "16": "16",
-        "17": "17",
-        "18": "18",
-        "19": "19",
-        "20": "20",
-        "21": "21",
-        "22": "22",
-        "23": "23",
-        "24": "24",
-        "25": "25",
-        "26": "26",
-        "7": "7",
-        "8": "8",
-        "9": "9"
+        "1": "IMU 1",
+        "2": "IMU 2",
+        "3": "IMU 3"
       }
     },
-    "FRSKY_DNLINK2_ID": {
-      "Description": "Change the second extra downlink sensor id (SPort only)",
-      "DisplayName": "Second downlink sensor id",
-      "User": "Advanced",
-      "Values": {
-        "-1": "Disable",
-        "10": "10",
-        "11": "11",
-        "12": "12",
-        "13": "13",
-        "14": "14",
-        "15": "15",
-        "16": "16",
-        "17": "17",
-        "18": "18",
-        "19": "19",
-        "20": "20",
-        "21": "21",
-        "22": "22",
-        "23": "23",
-        "24": "24",
-        "25": "25",
-        "26": "26",
-        "7": "7",
-        "8": "8",
-        "9": "9"
-      }
+    "INS_ACC_ID": {
+      "Description": "Accelerometer sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Accelerometer ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "INS_ENABLE_MASK": {
+      "Bitmask": {
+        "0": "FirstIMU",
+        "1": "SecondIMU",
+        "2": "ThirdIMU",
+        "3": "FourthIMU",
+        "4": "FifthIMU",
+        "5": "SixthIMU",
+        "6": "SeventhIMU"
+      },
+      "Description": "Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs",
+      "DisplayName": "IMU enable mask",
+      "User": "Advanced"
+    },
+    "INS_FAST_SAMPLE": {
+      "Bitmask": {
+        "0": "FirstIMU",
+        "1": "SecondIMU",
+        "2": "ThirdIMU"
+      },
+      "Description": "Mask of IMUs to enable fast sampling on, if available",
+      "DisplayName": "Fast sampling mask",
+      "User": "Advanced"
+    },
+    "INS_GYR1_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the 1st gyroscope was calibrated at",
+      "DisplayName": "Calibration temperature for 1st gyroscope",
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS_GYR2OFFS_X": {
+      "Calibration": "1",
+      "Description": "Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro2 offsets of X axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS_GYR2OFFS_Y": {
+      "Calibration": "1",
+      "Description": "Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro2 offsets of Y axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS_GYR2OFFS_Z": {
+      "Calibration": "1",
+      "Description": "Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro2 offsets of Z axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS_GYR2_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the 2nd gyroscope was calibrated at",
+      "DisplayName": "Calibration temperature for 2nd gyroscope",
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS_GYR2_ID": {
+      "Description": "Gyro2 sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Gyro2 ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "INS_GYR3OFFS_X": {
+      "Calibration": "1",
+      "Description": "Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro3 offsets of X axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS_GYR3OFFS_Y": {
+      "Calibration": "1",
+      "Description": "Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro3 offsets of Y axis",
+      "Units": "rad/s",
+      "User": "Advanced"
     },
-    "FRSKY_DNLINK_ID": {
-      "Description": "Change the default downlink sensor id (SPort only)",
-      "DisplayName": "Default downlink sensor id",
-      "User": "Advanced",
-      "Values": {
-        "-1": "Disable",
-        "10": "10",
-        "11": "11",
-        "12": "12",
-        "13": "13",
-        "14": "14",
-        "15": "15",
-        "16": "16",
-        "17": "17",
-        "18": "18",
-        "19": "19",
-        "20": "20",
-        "21": "21",
-        "22": "22",
-        "23": "23",
-        "24": "24",
-        "25": "25",
-        "26": "26",
-        "27": "27",
-        "7": "7",
-        "8": "8",
-        "9": "9"
-      }
+    "INS_GYR3OFFS_Z": {
+      "Calibration": "1",
+      "Description": "Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro3 offsets of Z axis",
+      "Units": "rad/s",
+      "User": "Advanced"
     },
-    "FRSKY_OPTIONS": {
-      "Bitmask": {
-        "0": "EnableAirspeedAndGroundspeed"
-      },
-      "Description": "A bitmask to set some FRSky Telemetry specific options",
-      "DisplayName": "FRSky Telemetry Options",
-      "User": "Standard"
+    "INS_GYR3_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the 3rd gyroscope was calibrated at",
+      "DisplayName": "Calibration temperature for 3rd gyroscope",
+      "Units": "degC",
+      "User": "Advanced"
     },
-    "FRSKY_UPLINK_ID": {
-      "Description": "Change the uplink sensor id (SPort only)",
-      "DisplayName": "Uplink sensor id",
-      "User": "Advanced",
-      "Values": {
-        "-1": "Disable",
-        "10": "10",
-        "11": "11",
-        "12": "12",
-        "13": "13",
-        "14": "14",
-        "15": "15",
-        "16": "16",
-        "17": "17",
-        "18": "18",
-        "19": "19",
-        "20": "20",
-        "21": "21",
-        "22": "22",
-        "23": "23",
-        "24": "24",
-        "25": "25",
-        "26": "26",
-        "7": "7",
-        "8": "8",
-        "9": "9"
-      }
-    }
-  },
-  "GEN_": {
-    "GEN_OPTIONS": {
-      "Bitmask": {
-        "0": "Suppress Maintenance-Required Warnings"
-      },
-      "Description": "Bitmask of options for generators",
-      "DisplayName": "Generator Options",
-      "User": "Standard"
+    "INS_GYR3_ID": {
+      "Description": "Gyro3 sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Gyro3 ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
     },
-    "GEN_TYPE": {
-      "Description": "Generator type",
-      "DisplayName": "Generator type",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "0": "Disabled",
-        "1": "IE 650w 800w Fuel Cell",
-        "2": "IE 2.4kW Fuel Cell",
-        "3": "Richenpower"
-      }
-    }
-  },
-  "GPS": {
-    "GPS1_CAN_OVRIDE": {
-      "Description": "GPS Node id for first GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.",
-      "DisplayName": "First DroneCAN GPS NODE ID",
+    "INS_GYROFFS_X": {
+      "Calibration": "1",
+      "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro offsets of X axis",
+      "Units": "rad/s",
       "User": "Advanced"
     },
-    "GPS2_CAN_OVRIDE": {
-      "Description": "GPS Node id for second GPS. If 0 the gps will be automatically selected on a second-come-second-GPS basis.",
-      "DisplayName": "Second DroneCAN GPS NODE ID",
+    "INS_GYROFFS_Y": {
+      "Calibration": "1",
+      "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro offsets of Y axis",
+      "Units": "rad/s",
       "User": "Advanced"
     },
-    "GPS_AUTO_CONFIG": {
-      "Description": "Controls if the autopilot should automatically configure the GPS based on the parameters and default settings",
-      "DisplayName": "Automatic GPS configuration",
+    "INS_GYROFFS_Z": {
+      "Calibration": "1",
+      "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro offsets of Z axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS_GYRO_FILTER": {
+      "Description": "Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)",
+      "DisplayName": "Gyro filter cutoff frequency",
+      "Range": {
+        "high": "256",
+        "low": "0"
+      },
+      "Units": "Hz",
+      "User": "Advanced"
+    },
+    "INS_GYRO_RATE": {
+      "Description": "Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.",
+      "DisplayName": "Gyro rate for IMUs with Fast Sampling enabled",
+      "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
-        "0": "Disables automatic configuration",
-        "1": "Enable automatic configuration for Serial GPSes only",
-        "2": "Enable automatic configuration for DroneCAN as well"
+        "0": "1kHz",
+        "1": "2kHz",
+        "2": "4kHz",
+        "3": "8kHz"
       }
     },
-    "GPS_AUTO_SWITCH": {
-      "Description": "Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary",
-      "DisplayName": "Automatic Switchover Setting",
+    "INS_GYR_CAL": {
+      "Description": "Conrols when automatic gyro calibration is performed",
+      "DisplayName": "Gyro Calibration scheme",
       "User": "Advanced",
       "Values": {
-        "0": "Use primary",
-        "1": "UseBest",
-        "2": "Blend",
-        "4": "Use primary if 3D fix or better"
+        "0": "Never",
+        "1": "Start-up only"
       }
     },
-    "GPS_BLEND_MASK": {
-      "Bitmask": {
-        "0": "Horiz Pos",
-        "1": "Vert Pos",
-        "2": "Speed"
+    "INS_GYR_ID": {
+      "Description": "Gyro sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Gyro ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "INS_POS1_X": {
+      "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer X position",
+      "Increment": "0.01",
+      "Range": {
+        "high": "5",
+        "low": "-5"
       },
-      "Description": "Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)",
-      "DisplayName": "Multi GPS Blending Mask",
+      "Units": "m",
       "User": "Advanced"
     },
-    "GPS_CAN_NODEID1": {
-      "Description": "GPS Node id for first-discovered GPS.",
-      "DisplayName": "GPS Node ID 1",
-      "ReadOnly": "True",
+    "INS_POS1_Y": {
+      "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Y position",
+      "Increment": "0.01",
+      "Range": {
+        "high": "5",
+        "low": "-5"
+      },
+      "Units": "m",
       "User": "Advanced"
     },
-    "GPS_CAN_NODEID2": {
-      "Description": "GPS Node id for second-discovered GPS.",
-      "DisplayName": "GPS Node ID 2",
-      "ReadOnly": "True",
+    "INS_POS1_Z": {
+      "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Z position",
+      "Increment": "0.01",
+      "Range": {
+        "high": "5",
+        "low": "-5"
+      },
+      "Units": "m",
       "User": "Advanced"
     },
-    "GPS_COM_PORT": {
-      "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS",
-      "DisplayName": "GPS physical COM port",
-      "Increment": "1",
+    "INS_POS2_X": {
+      "Description": "X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer X position",
+      "Increment": "0.01",
       "Range": {
-        "high": "10",
-        "low": "0"
+        "high": "5",
+        "low": "-5"
       },
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "COM1(RS232) on GSOF",
-        "1": "COM2(TTL) on GSOF"
-      }
+      "Units": "m",
+      "User": "Advanced"
     },
-    "GPS_COM_PORT2": {
-      "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS",
-      "DisplayName": "GPS physical COM port",
-      "Increment": "1",
+    "INS_POS2_Y": {
+      "Description": "Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Y position",
+      "Increment": "0.01",
+      "Range": {
+        "high": "5",
+        "low": "-5"
+      },
+      "Units": "m",
+      "User": "Advanced"
+    },
+    "INS_POS2_Z": {
+      "Description": "Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Z position",
+      "Increment": "0.01",
+      "Range": {
+        "high": "5",
+        "low": "-5"
+      },
+      "Units": "m",
+      "User": "Advanced"
+    },
+    "INS_POS3_X": {
+      "Description": "X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer X position",
       "Range": {
         "high": "10",
-        "low": "0"
+        "low": "-10"
       },
-      "RebootRequired": "True",
+      "Units": "m",
       "User": "Advanced"
     },
-    "GPS_DELAY_MS": {
-      "Description": "Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.",
-      "DisplayName": "GPS delay in milliseconds",
+    "INS_POS3_Y": {
+      "Description": "Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Y position",
+      "Increment": "0.01",
       "Range": {
-        "high": "250",
-        "low": "0"
+        "high": "5",
+        "low": "-5"
       },
-      "RebootRequired": "True",
-      "Units": "ms",
+      "Units": "m",
       "User": "Advanced"
     },
-    "GPS_DELAY_MS2": {
-      "Description": "Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.",
-      "DisplayName": "GPS 2 delay in milliseconds",
+    "INS_POS3_Z": {
+      "Description": "Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Z position",
+      "Increment": "0.01",
       "Range": {
-        "high": "250",
-        "low": "0"
+        "high": "5",
+        "low": "-5"
       },
-      "RebootRequired": "True",
-      "Units": "ms",
+      "Units": "m",
       "User": "Advanced"
     },
-    "GPS_DRV_OPTIONS": {
+    "INS_RAW_LOG_OPT": {
       "Bitmask": {
-        "0": "Use UART2 for moving baseline on ublox",
-        "1": "Use base station for GPS yaw on SBF",
-        "2": "Use baudrate 115200",
-        "3": "Use dedicated CAN port b/w GPSes for moving baseline",
-        "4": "Use ellipsoid height instead of AMSL",
-        "5": "Override GPS satellite health of L5 band from L1 health"
+        "0": "Log primary gyro only",
+        "1": "Log all gyros",
+        "2": "Post filter",
+        "3": "Pre and post filter"
       },
-      "Description": "Additional backend specific options",
-      "DisplayName": "driver options",
+      "Description": "Raw logging options bitmask",
+      "DisplayName": "Raw logging options",
       "User": "Advanced"
     },
-    "GPS_GNSS_MODE": {
-      "Bitmask": {
-        "0": "GPS",
-        "1": "SBAS",
-        "2": "Galileo",
-        "3": "Beidou",
-        "4": "IMES",
-        "5": "QZSS",
-        "6": "GLONASS"
+    "INS_STILL_THRESH": {
+      "Description": "Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5",
+      "DisplayName": "Stillness threshold for detecting if we are moving",
+      "Range": {
+        "high": "50",
+        "low": "0.05"
       },
-      "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)",
-      "DisplayName": "GNSS system configuration",
       "User": "Advanced"
     },
-    "GPS_GNSS_MODE2": {
+    "INS_TCAL_OPTIONS": {
       "Bitmask": {
-        "0": "GPS",
-        "1": "SBAS",
-        "2": "Galileo",
-        "3": "Beidou",
-        "4": "IMES",
-        "5": "QZSS",
-        "6": "GLONASS"
+        "0": "PersistParams"
       },
-      "Description": "Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)",
-      "DisplayName": "GNSS system configuration",
+      "Description": "This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.",
+      "DisplayName": "Options for temperature calibration",
       "User": "Advanced"
     },
-    "GPS_INJECT_TO": {
-      "Description": "The GGS can send raw serial packets to inject data to multiple GPSes.",
-      "DisplayName": "Destination for GPS_INJECT_DATA MAVLink packets",
+    "INS_TRIM_OPTION": {
+      "Description": "Specifies how the accel cal routine determines the trims",
+      "DisplayName": "Accel cal trim option",
       "User": "Advanced",
       "Values": {
-        "0": "send to first GPS",
-        "1": "send to 2nd GPS",
-        "127": "send to all"
+        "0": "Don't adjust the trims",
+        "1": "Assume first orientation was level",
+        "2": "Assume ACC_BODYFIX is perfectly aligned to the vehicle"
       }
     },
-    "GPS_MIN_DGPS": {
-      "Description": "Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.",
-      "DisplayName": "Minimum Lock Type Accepted for DGPS",
-      "RebootRequired": "True",
+    "INS_USE": {
+      "Description": "Use first IMU for attitude, velocity and position estimates",
+      "DisplayName": "Use first IMU for attitude, velocity and position estimates",
       "User": "Advanced",
       "Values": {
-        "0": "Any",
-        "100": "IntegerRTK",
-        "50": "FloatRTK"
+        "0": "Disabled",
+        "1": "Enabled"
       }
     },
-    "GPS_MIN_ELEV": {
-      "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.",
-      "DisplayName": "Minimum elevation",
-      "Range": {
-        "high": "90",
-        "low": "-100"
-      },
-      "Units": "deg",
-      "User": "Advanced"
+    "INS_USE2": {
+      "Description": "Use second IMU for attitude, velocity and position estimates",
+      "DisplayName": "Use second IMU for attitude, velocity and position estimates",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "GPS_NAVFILTER": {
-      "Description": "Navigation filter engine setting",
-      "DisplayName": "Navigation filter setting",
+    "INS_USE3": {
+      "Description": "Use third IMU for attitude, velocity and position estimates",
+      "DisplayName": "Use third IMU for attitude, velocity and position estimates",
       "User": "Advanced",
       "Values": {
-        "0": "Portable",
-        "2": "Stationary",
-        "3": "Pedestrian",
-        "4": "Automotive",
-        "5": "Sea",
-        "6": "Airborne1G",
-        "7": "Airborne2G",
-        "8": "Airborne4G"
+        "0": "Disabled",
+        "1": "Enabled"
       }
+    }
+  },
+  "INS4_": {
+    "INS4_ACCOFFS_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer offsets of X axis",
+      "Range": {
+        "high": "3.5",
+        "low": "-3.5"
+      },
+      "Units": "m/s/s",
+      "User": "Advanced"
     },
-    "GPS_POS1_X": {
-      "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Antenna X position offset",
-      "Increment": "0.01",
+    "INS4_ACCOFFS_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer offsets of Y axis",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "m",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "GPS_POS1_Y": {
-      "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Antenna Y position offset",
-      "Increment": "0.01",
+    "INS4_ACCOFFS_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer offsets of Z axis",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "m",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "GPS_POS1_Z": {
-      "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Antenna Z position offset",
-      "Increment": "0.01",
+    "INS4_ACCSCAL_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer scaling of X axis.  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer scaling of X axis",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "1.2",
+        "low": "0.8"
       },
-      "Units": "m",
       "User": "Advanced"
     },
-    "GPS_POS2_X": {
-      "Description": "X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Antenna X position offset",
+    "INS4_ACCSCAL_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer scaling of Y axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer scaling of Y axis",
+      "Range": {
+        "high": "1.2",
+        "low": "0.8"
+      },
+      "User": "Advanced"
+    },
+    "INS4_ACCSCAL_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer scaling of Z axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer scaling of Z axis",
+      "Range": {
+        "high": "1.2",
+        "low": "0.8"
+      },
+      "User": "Advanced"
+    },
+    "INS4_ACC_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the accelerometer was calibrated at",
+      "DisplayName": "Calibration temperature for accelerometer",
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS4_ACC_ID": {
+      "Description": "Accelerometer sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Accelerometer ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "INS4_GYROFFS_X": {
+      "Calibration": "1",
+      "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro offsets of X axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS4_GYROFFS_Y": {
+      "Calibration": "1",
+      "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro offsets of Y axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS4_GYROFFS_Z": {
+      "Calibration": "1",
+      "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro offsets of Z axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS4_GYR_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the gyroscope was calibrated at",
+      "DisplayName": "Calibration temperature for gyroscope",
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS4_GYR_ID": {
+      "Description": "Gyro sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Gyro ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "INS4_POS_X": {
+      "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer X position",
       "Increment": "0.01",
       "Range": {
         "high": "5",
@@ -21797,9 +21446,9 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "GPS_POS2_Y": {
-      "Description": "Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Antenna Y position offset",
+    "INS4_POS_Y": {
+      "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Y position",
       "Increment": "0.01",
       "Range": {
         "high": "5",
@@ -21808,9 +21457,9 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "GPS_POS2_Z": {
-      "Description": "Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Antenna Z position offset",
+    "INS4_POS_Z": {
+      "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Z position",
       "Increment": "0.01",
       "Range": {
         "high": "5",
@@ -21819,202 +21468,273 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "GPS_PRIMARY": {
-      "Description": "This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.",
-      "DisplayName": "Primary GPS",
-      "Increment": "1",
+    "INS4_USE": {
+      "Description": "Use first IMU for attitude, velocity and position estimates",
+      "DisplayName": "Use first IMU for attitude, velocity and position estimates",
       "User": "Advanced",
       "Values": {
-        "0": "FirstGPS",
-        "1": "SecondGPS"
+        "0": "Disabled",
+        "1": "Enabled"
       }
+    }
+  },
+  "INS4_TCAL_": {
+    "INS4_TCAL_ACC1_X": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
+      "User": "Advanced"
     },
-    "GPS_RATE_MS": {
-      "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.",
-      "DisplayName": "GPS update rate in milliseconds",
-      "Range": {
-        "high": "200",
-        "low": "50"
-      },
-      "Units": "ms",
-      "User": "Advanced",
-      "Values": {
-        "100": "10Hz",
-        "125": "8Hz",
-        "200": "5Hz"
-      }
+    "INS4_TCAL_ACC1_Y": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
+      "User": "Advanced"
     },
-    "GPS_RATE_MS2": {
-      "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.",
-      "DisplayName": "GPS 2 update rate in milliseconds",
-      "Range": {
-        "high": "200",
-        "low": "50"
-      },
-      "Units": "ms",
-      "User": "Advanced",
-      "Values": {
-        "100": "10Hz",
-        "125": "8Hz",
-        "200": "5Hz"
-      }
+    "INS4_TCAL_ACC1_Z": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
+      "User": "Advanced"
     },
-    "GPS_RAW_DATA": {
-      "Description": "Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming",
-      "DisplayName": "Raw data logging",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Ignore",
-        "1": "Always log",
-        "2": "Stop logging when disarmed (SBF only)",
-        "5": "Only log every five samples (uBlox only)"
-      }
+    "INS4_TCAL_ACC2_X": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
+      "User": "Advanced"
     },
-    "GPS_SAVE_CFG": {
-      "Description": "Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.",
-      "DisplayName": "Save GPS configuration",
-      "User": "Advanced",
-      "Values": {
-        "0": "Do not save config",
-        "1": "Save config",
-        "2": "Save only when needed"
-      }
+    "INS4_TCAL_ACC2_Y": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
+      "User": "Advanced"
     },
-    "GPS_SBAS_MODE": {
-      "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.",
-      "DisplayName": "SBAS Mode",
+    "INS4_TCAL_ACC2_Z": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_ACC3_X": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_ACC3_Y": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_ACC3_Z": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_ENABLE": {
+      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
+      "DisplayName": "Enable temperature calibration",
+      "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
         "0": "Disabled",
         "1": "Enabled",
-        "2": "NoChange"
+        "2": "LearnCalibration"
       }
     },
-    "GPS_SBP_LOGMASK": {
-      "Description": "Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged",
-      "DisplayName": "Swift Binary Protocol Logging Mask",
-      "User": "Advanced",
-      "Values": {
-        "-1": "All (0xFFFF)",
-        "-256": "External only (0xFF00)",
-        "0": "None (0x0000)"
-      }
+    "INS4_TCAL_GYR1_X": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
+      "User": "Advanced"
     },
-    "GPS_TYPE": {
-      "Description": "GPS type of 1st GPS",
-      "DisplayName": "1st GPS type",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "1": "AUTO",
-        "10": "SBF",
-        "11": "GSOF",
-        "13": "ERB",
-        "14": "MAV",
-        "15": "NOVA",
-        "16": "HemisphereNMEA",
-        "17": "uBlox-MovingBaseline-Base",
-        "18": "uBlox-MovingBaseline-Rover",
-        "19": "MSP",
-        "2": "uBlox",
-        "20": "AllyStar",
-        "21": "ExternalAHRS",
-        "22": "DroneCAN-MovingBaseline-Base",
-        "23": "DroneCAN-MovingBaseline-Rover",
-        "24": "UnicoreNMEA",
-        "25": "UnicoreMovingBaselineNMEA",
-        "26": "SBF-DualAntenna",
-        "5": "NMEA",
-        "6": "SiRF",
-        "7": "HIL",
-        "8": "SwiftNav",
-        "9": "DroneCAN"
-      }
+    "INS4_TCAL_GYR1_Y": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
+      "User": "Advanced"
     },
-    "GPS_TYPE2": {
-      "Description": "GPS type of 2nd GPS",
-      "DisplayName": "2nd GPS type",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "None",
-        "1": "AUTO",
-        "10": "SBF",
-        "11": "GSOF",
-        "13": "ERB",
-        "14": "MAV",
-        "15": "NOVA",
-        "16": "HemisphereNMEA",
-        "17": "uBlox-MovingBaseline-Base",
-        "18": "uBlox-MovingBaseline-Rover",
-        "19": "MSP",
-        "2": "uBlox",
-        "20": "AllyStar",
-        "21": "ExternalAHRS",
-        "22": "DroneCAN-MovingBaseline-Base",
-        "23": "DroneCAN-MovingBaseline-Rover",
-        "24": "UnicoreNMEA",
-        "25": "UnicoreMovingBaselineNMEA",
-        "26": "SBF-DualAntenna",
-        "5": "NMEA",
-        "6": "SiRF",
-        "7": "HIL",
-        "8": "SwiftNav",
-        "9": "DroneCAN"
-      }
+    "INS4_TCAL_GYR1_Z": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_GYR2_X": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_GYR2_Y": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_GYR2_Z": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_GYR3_X": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_GYR3_Y": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_GYR3_Z": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_TMAX": {
+      "Calibration": "1",
+      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
+      "DisplayName": "Temperature calibration max",
+      "Range": {
+        "high": "80",
+        "low": "-70"
+      },
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS4_TCAL_TMIN": {
+      "Calibration": "1",
+      "Description": "The minimum temperature that the calibration is valid for",
+      "DisplayName": "Temperature calibration min",
+      "Range": {
+        "high": "80",
+        "low": "-70"
+      },
+      "Units": "degC",
+      "User": "Advanced"
     }
   },
-  "GPS_MB1_": {
-    "GPS_MB1_OFS_X": {
-      "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Base antenna X position offset",
-      "Increment": "0.01",
+  "INS5_": {
+    "INS5_ACCOFFS_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer offsets of X axis",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "m",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "GPS_MB1_OFS_Y": {
-      "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Base antenna Y position offset    ",
-      "Increment": "0.01",
+    "INS5_ACCOFFS_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer offsets of Y axis",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "m",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "GPS_MB1_OFS_Z": {
-      "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Base antenna Z position offset",
-      "Increment": "0.01",
+    "INS5_ACCOFFS_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations",
+      "DisplayName": "Accelerometer offsets of Z axis",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "3.5",
+        "low": "-3.5"
       },
-      "Units": "m",
+      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "GPS_MB1_TYPE": {
-      "Description": "Controls the type of moving base used if using moving base.",
-      "DisplayName": "Moving base type",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "Relative to alternate GPS instance",
-        "1": "RelativeToCustomBase"
-      }
-    }
-  },
-  "GPS_MB2_": {
-    "GPS_MB2_OFS_X": {
-      "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Base antenna X position offset",
+    "INS5_ACCSCAL_X": {
+      "Calibration": "1",
+      "Description": "Accelerometer scaling of X axis.  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer scaling of X axis",
+      "Range": {
+        "high": "1.2",
+        "low": "0.8"
+      },
+      "User": "Advanced"
+    },
+    "INS5_ACCSCAL_Y": {
+      "Calibration": "1",
+      "Description": "Accelerometer scaling of Y axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer scaling of Y axis",
+      "Range": {
+        "high": "1.2",
+        "low": "0.8"
+      },
+      "User": "Advanced"
+    },
+    "INS5_ACCSCAL_Z": {
+      "Calibration": "1",
+      "Description": "Accelerometer scaling of Z axis  Calculated during acceleration calibration routine",
+      "DisplayName": "Accelerometer scaling of Z axis",
+      "Range": {
+        "high": "1.2",
+        "low": "0.8"
+      },
+      "User": "Advanced"
+    },
+    "INS5_ACC_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the accelerometer was calibrated at",
+      "DisplayName": "Calibration temperature for accelerometer",
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS5_ACC_ID": {
+      "Description": "Accelerometer sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Accelerometer ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "INS5_GYROFFS_X": {
+      "Calibration": "1",
+      "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro offsets of X axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS5_GYROFFS_Y": {
+      "Calibration": "1",
+      "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro offsets of Y axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS5_GYROFFS_Z": {
+      "Calibration": "1",
+      "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
+      "DisplayName": "Gyro offsets of Z axis",
+      "Units": "rad/s",
+      "User": "Advanced"
+    },
+    "INS5_GYR_CALTEMP": {
+      "Calibration": "1",
+      "Description": "Temperature that the gyroscope was calibrated at",
+      "DisplayName": "Calibration temperature for gyroscope",
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS5_GYR_ID": {
+      "Description": "Gyro sensor ID, taking into account its type, bus and instance",
+      "DisplayName": "Gyro ID",
+      "ReadOnly": "True",
+      "User": "Advanced"
+    },
+    "INS5_POS_X": {
+      "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer X position",
       "Increment": "0.01",
       "Range": {
         "high": "5",
@@ -22023,9 +21743,9 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "GPS_MB2_OFS_Y": {
-      "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Base antenna Y position offset    ",
+    "INS5_POS_Y": {
+      "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Y position",
       "Increment": "0.01",
       "Range": {
         "high": "5",
@@ -22034,9 +21754,9 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "GPS_MB2_OFS_Z": {
-      "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.",
-      "DisplayName": "Base antenna Z position offset",
+    "INS5_POS_Z": {
+      "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
+      "DisplayName": "IMU accelerometer Z position",
       "Increment": "0.01",
       "Range": {
         "high": "5",
@@ -22045,2273 +21765,2521 @@
       "Units": "m",
       "User": "Advanced"
     },
-    "GPS_MB2_TYPE": {
-      "Description": "Controls the type of moving base used if using moving base.",
-      "DisplayName": "Moving base type",
-      "RebootRequired": "True",
+    "INS5_USE": {
+      "Description": "Use first IMU for attitude, velocity and position estimates",
+      "DisplayName": "Use first IMU for attitude, velocity and position estimates",
       "User": "Advanced",
       "Values": {
-        "0": "Relative to alternate GPS instance",
-        "1": "RelativeToCustomBase"
+        "0": "Disabled",
+        "1": "Enabled"
       }
     }
   },
-  "GRIP_": {
-    "GRIP_AUTOCLOSE": {
-      "Description": "Time in seconds that gripper close the gripper after opening; 0 to disable",
-      "DisplayName": "Gripper Autoclose time",
-      "Range": {
-        "high": "255",
-        "low": "0.25"
-      },
-      "Units": "s",
+  "INS5_TCAL_": {
+    "INS5_TCAL_ACC1_X": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "GRIP_CAN_ID": {
-      "Description": "Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface",
-      "DisplayName": "EPM UAVCAN Hardpoint ID",
-      "Range": {
-        "high": "255",
-        "low": "0"
-      },
-      "User": "Standard"
+    "INS5_TCAL_ACC1_Y": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
+      "User": "Advanced"
+    },
+    "INS5_TCAL_ACC1_Z": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS5_TCAL_ACC2_X": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
+      "User": "Advanced"
+    },
+    "INS5_TCAL_ACC2_Y": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
+      "User": "Advanced"
+    },
+    "INS5_TCAL_ACC2_Z": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS5_TCAL_ACC3_X": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
+      "User": "Advanced"
+    },
+    "INS5_TCAL_ACC3_Y": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
+      "User": "Advanced"
     },
-    "GRIP_ENABLE": {
-      "Description": "Gripper enable/disable",
-      "DisplayName": "Gripper Enable/Disable",
-      "User": "Standard",
+    "INS5_TCAL_ACC3_Z": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS5_TCAL_ENABLE": {
+      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
+      "DisplayName": "Enable temperature calibration",
+      "RebootRequired": "True",
+      "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "1": "Enabled",
+        "2": "LearnCalibration"
       }
     },
-    "GRIP_GRAB": {
-      "Description": "PWM value in microseconds sent to Gripper to initiate grabbing the cargo",
-      "DisplayName": "Gripper Grab PWM",
-      "Range": {
-        "high": "2000",
-        "low": "1000"
-      },
-      "Units": "PWM",
+    "INS5_TCAL_GYR1_X": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "GRIP_NEUTRAL": {
-      "Description": "PWM value in microseconds sent to grabber when not grabbing or releasing",
-      "DisplayName": "Neutral PWM",
-      "Range": {
-        "high": "2000",
-        "low": "1000"
-      },
-      "Units": "PWM",
+    "INS5_TCAL_GYR1_Y": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "GRIP_REGRAB": {
-      "Description": "Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable",
-      "DisplayName": "EPM Gripper Regrab interval",
-      "Range": {
-        "high": "255",
-        "low": "0"
-      },
-      "Units": "s",
+    "INS5_TCAL_GYR1_Z": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "GRIP_RELEASE": {
-      "Description": "PWM value in microseconds sent to Gripper to release the cargo",
-      "DisplayName": "Gripper Release PWM",
-      "Range": {
-        "high": "2000",
-        "low": "1000"
-      },
-      "Units": "PWM",
+    "INS5_TCAL_GYR2_X": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "GRIP_TYPE": {
-      "Description": "Gripper enable/disable",
-      "DisplayName": "Gripper Type",
-      "User": "Standard",
-      "Values": {
-        "0": "None",
-        "1": "Servo",
-        "2": "EPM"
-      }
-    }
-  },
-  "INS": {
-    "INS_ACC1_CALTEMP": {
+    "INS5_TCAL_GYR2_Y": {
       "Calibration": "1",
-      "Description": "Temperature that the 1st accelerometer was calibrated at",
-      "DisplayName": "Calibration temperature for 1st accelerometer",
-      "Units": "degC",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_ACC2OFFS_X": {
+    "INS5_TCAL_GYR2_Z": {
       "Calibration": "1",
-      "Description": "Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer2 offsets of X axis",
-      "Range": {
-        "high": "3.5",
-        "low": "-3.5"
-      },
-      "Units": "m/s/s",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_ACC2OFFS_Y": {
+    "INS5_TCAL_GYR3_X": {
       "Calibration": "1",
-      "Description": "Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer2 offsets of Y axis",
-      "Range": {
-        "high": "3.5",
-        "low": "-3.5"
-      },
-      "Units": "m/s/s",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_ACC2OFFS_Z": {
+    "INS5_TCAL_GYR3_Y": {
       "Calibration": "1",
-      "Description": "Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer2 offsets of Z axis",
-      "Range": {
-        "high": "3.5",
-        "low": "-3.5"
-      },
-      "Units": "m/s/s",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_ACC2SCAL_X": {
+    "INS5_TCAL_GYR3_Z": {
       "Calibration": "1",
-      "Description": "Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer2 scaling of X axis",
-      "Range": {
-        "high": "1.2",
-        "low": "0.8"
-      },
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_ACC2SCAL_Y": {
+    "INS5_TCAL_TMAX": {
       "Calibration": "1",
-      "Description": "Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer2 scaling of Y axis",
+      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
+      "DisplayName": "Temperature calibration max",
       "Range": {
-        "high": "1.2",
-        "low": "0.8"
+        "high": "80",
+        "low": "-70"
       },
+      "Units": "degC",
       "User": "Advanced"
     },
-    "INS_ACC2SCAL_Z": {
+    "INS5_TCAL_TMIN": {
       "Calibration": "1",
-      "Description": "Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer2 scaling of Z axis",
+      "Description": "The minimum temperature that the calibration is valid for",
+      "DisplayName": "Temperature calibration min",
       "Range": {
-        "high": "1.2",
-        "low": "0.8"
+        "high": "80",
+        "low": "-70"
       },
-      "User": "Advanced"
-    },
-    "INS_ACC2_CALTEMP": {
-      "Calibration": "1",
-      "Description": "Temperature that the 2nd accelerometer was calibrated at",
-      "DisplayName": "Calibration temperature for 2nd accelerometer",
       "Units": "degC",
       "User": "Advanced"
-    },
-    "INS_ACC2_ID": {
-      "Description": "Accelerometer2 sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Accelerometer2 ID",
-      "ReadOnly": "True",
+    }
+  },
+  "INS_HNTC2_": {
+    "INS_HNTC2_ATT": {
+      "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.",
+      "DisplayName": "Harmonic Notch Filter attenuation",
+      "Range": {
+        "high": "50",
+        "low": "5"
+      },
+      "Units": "dB",
       "User": "Advanced"
     },
-    "INS_ACC3OFFS_X": {
-      "Calibration": "1",
-      "Description": "Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer3 offsets of X axis",
+    "INS_HNTC2_BW": {
+      "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.",
+      "DisplayName": "Harmonic Notch Filter bandwidth",
       "Range": {
-        "high": "3.5",
-        "low": "-3.5"
+        "high": "250",
+        "low": "5"
       },
-      "Units": "m/s/s",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "INS_ACC3OFFS_Y": {
-      "Calibration": "1",
-      "Description": "Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer3 offsets of Y axis",
+    "INS_HNTC2_ENABLE": {
+      "Description": "Harmonic Notch Filter enable",
+      "DisplayName": "Harmonic Notch Filter enable",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
+    },
+    "INS_HNTC2_FM_RAT": {
+      "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.",
+      "DisplayName": "Throttle notch min freqency ratio",
       "Range": {
-        "high": "3.5",
-        "low": "-3.5"
+        "high": "1.0",
+        "low": "0.1"
       },
-      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "INS_ACC3OFFS_Z": {
-      "Calibration": "1",
-      "Description": "Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer3 offsets of Z axis",
+    "INS_HNTC2_FREQ": {
+      "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ",
+      "DisplayName": "Harmonic Notch Filter base frequency",
       "Range": {
-        "high": "3.5",
-        "low": "-3.5"
+        "high": "495",
+        "low": "10"
       },
-      "Units": "m/s/s",
+      "Units": "Hz",
+      "User": "Advanced"
+    },
+    "INS_HNTC2_HMNCS": {
+      "Bitmask": {
+        "0": "1st harmonic",
+        "1": "2nd harmonic",
+        "10": "11th harmonic",
+        "11": "12th harmonic",
+        "12": "13th harmonic",
+        "13": "14th harmonic",
+        "14": "15th harmonic",
+        "15": "16th harmonic",
+        "2": "3rd harmonic",
+        "3": "4th harmonic",
+        "4": "5th harmonic",
+        "5": "6th harmonic",
+        "6": "7th harmonic",
+        "7": "8th harmonic",
+        "8": "9th harmonic",
+        "9": "10th harmonic"
+      },
+      "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.",
+      "DisplayName": "Harmonic Notch Filter harmonics",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "INS_ACC3SCAL_X": {
-      "Calibration": "1",
-      "Description": "Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer3 scaling of X axis",
-      "Range": {
-        "high": "1.2",
-        "low": "0.8"
+    "INS_HNTC2_MODE": {
+      "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.",
+      "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode",
+      "Range": {
+        "high": "5",
+        "low": "0"
+      },
+      "User": "Advanced",
+      "Values": {
+        "0": "Fixed",
+        "1": "Throttle",
+        "2": "RPM Sensor",
+        "3": "ESC Telemetry",
+        "4": "Dynamic FFT",
+        "5": "Second RPM Sensor"
+      }
+    },
+    "INS_HNTC2_OPTS": {
+      "Bitmask": {
+        "0": "Double notch",
+        "1": "Multi-Source",
+        "2": "Update at loop rate",
+        "3": "EnableOnAllIMUs",
+        "4": "Triple notch"
       },
+      "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.",
+      "DisplayName": "Harmonic Notch Filter options",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "INS_ACC3SCAL_Y": {
-      "Calibration": "1",
-      "Description": "Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer3 scaling of Y axis",
+    "INS_HNTC2_REF": {
+      "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter.  For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter.  This reference value may also be used to scale the sensor data, if required.  For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.",
+      "DisplayName": "Harmonic Notch Filter reference value",
       "Range": {
-        "high": "1.2",
-        "low": "0.8"
+        "high": "1.0",
+        "low": "0.0"
       },
+      "RebootRequired": "True",
       "User": "Advanced"
-    },
-    "INS_ACC3SCAL_Z": {
-      "Calibration": "1",
-      "Description": "Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer3 scaling of Z axis",
+    }
+  },
+  "INS_HNTCH_": {
+    "INS_HNTCH_ATT": {
+      "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.",
+      "DisplayName": "Harmonic Notch Filter attenuation",
       "Range": {
-        "high": "1.2",
-        "low": "0.8"
+        "high": "50",
+        "low": "5"
       },
+      "Units": "dB",
       "User": "Advanced"
     },
-    "INS_ACC3_CALTEMP": {
-      "Calibration": "1",
-      "Description": "Temperature that the 3rd accelerometer was calibrated at",
-      "DisplayName": "Calibration temperature for 3rd accelerometer",
-      "Units": "degC",
-      "User": "Advanced"
-    },
-    "INS_ACC3_ID": {
-      "Description": "Accelerometer3 sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Accelerometer3 ID",
-      "ReadOnly": "True",
-      "User": "Advanced"
-    },
-    "INS_ACCEL_FILTER": {
-      "Description": "Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)",
-      "DisplayName": "Accel filter cutoff frequency",
+    "INS_HNTCH_BW": {
+      "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.",
+      "DisplayName": "Harmonic Notch Filter bandwidth",
       "Range": {
-        "high": "256",
-        "low": "0"
+        "high": "250",
+        "low": "5"
       },
       "Units": "Hz",
       "User": "Advanced"
     },
-    "INS_ACCOFFS_X": {
-      "Calibration": "1",
-      "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer offsets of X axis",
+    "INS_HNTCH_ENABLE": {
+      "Description": "Harmonic Notch Filter enable",
+      "DisplayName": "Harmonic Notch Filter enable",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
+    },
+    "INS_HNTCH_FM_RAT": {
+      "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.",
+      "DisplayName": "Throttle notch min freqency ratio",
       "Range": {
-        "high": "3.5",
-        "low": "-3.5"
+        "high": "1.0",
+        "low": "0.1"
       },
-      "Units": "m/s/s",
       "User": "Advanced"
     },
-    "INS_ACCOFFS_Y": {
-      "Calibration": "1",
-      "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer offsets of Y axis",
+    "INS_HNTCH_FREQ": {
+      "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ",
+      "DisplayName": "Harmonic Notch Filter base frequency",
       "Range": {
-        "high": "3.5",
-        "low": "-3.5"
+        "high": "495",
+        "low": "10"
       },
-      "Units": "m/s/s",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "INS_ACCOFFS_Z": {
-      "Calibration": "1",
-      "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer offsets of Z axis",
-      "Range": {
-        "high": "3.5",
-        "low": "-3.5"
+    "INS_HNTCH_HMNCS": {
+      "Bitmask": {
+        "0": "1st harmonic",
+        "1": "2nd harmonic",
+        "10": "11th harmonic",
+        "11": "12th harmonic",
+        "12": "13th harmonic",
+        "13": "14th harmonic",
+        "14": "15th harmonic",
+        "15": "16th harmonic",
+        "2": "3rd harmonic",
+        "3": "4th harmonic",
+        "4": "5th harmonic",
+        "5": "6th harmonic",
+        "6": "7th harmonic",
+        "7": "8th harmonic",
+        "8": "9th harmonic",
+        "9": "10th harmonic"
       },
-      "Units": "m/s/s",
+      "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.",
+      "DisplayName": "Harmonic Notch Filter harmonics",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "INS_ACCSCAL_X": {
-      "Calibration": "1",
-      "Description": "Accelerometer scaling of X axis.  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer scaling of X axis",
+    "INS_HNTCH_MODE": {
+      "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.",
+      "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode",
       "Range": {
-        "high": "1.2",
-        "low": "0.8"
+        "high": "5",
+        "low": "0"
       },
-      "User": "Advanced"
+      "User": "Advanced",
+      "Values": {
+        "0": "Fixed",
+        "1": "Throttle",
+        "2": "RPM Sensor",
+        "3": "ESC Telemetry",
+        "4": "Dynamic FFT",
+        "5": "Second RPM Sensor"
+      }
     },
-    "INS_ACCSCAL_Y": {
-      "Calibration": "1",
-      "Description": "Accelerometer scaling of Y axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer scaling of Y axis",
-      "Range": {
-        "high": "1.2",
-        "low": "0.8"
+    "INS_HNTCH_OPTS": {
+      "Bitmask": {
+        "0": "Double notch",
+        "1": "Multi-Source",
+        "2": "Update at loop rate",
+        "3": "EnableOnAllIMUs",
+        "4": "Triple notch"
       },
+      "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.",
+      "DisplayName": "Harmonic Notch Filter options",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "INS_ACCSCAL_Z": {
-      "Calibration": "1",
-      "Description": "Accelerometer scaling of Z axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer scaling of Z axis",
+    "INS_HNTCH_REF": {
+      "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter.  For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter.  This reference value may also be used to scale the sensor data, if required.  For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.",
+      "DisplayName": "Harmonic Notch Filter reference value",
       "Range": {
-        "high": "1.2",
-        "low": "0.8"
+        "high": "1.0",
+        "low": "0.0"
       },
+      "RebootRequired": "True",
+      "User": "Advanced"
+    }
+  },
+  "INS_LOG_": {
+    "INS_LOG_BAT_CNT": {
+      "Description": "Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32. This option takes effect on the next reboot.",
+      "DisplayName": "sample count per batch",
+      "Increment": "32",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "INS_ACC_BODYFIX": {
-      "Description": "The body-fixed accelerometer to be used for trim calculation",
-      "DisplayName": "Body-fixed accelerometer",
-      "User": "Advanced",
-      "Values": {
-        "1": "IMU 1",
-        "2": "IMU 2",
-        "3": "IMU 3"
-      }
+    "INS_LOG_BAT_LGCT": {
+      "Description": "Number of samples to push to count every INS_LOG_BAT_LGIN",
+      "DisplayName": "logging count",
+      "Increment": "1"
     },
-    "INS_ACC_ID": {
-      "Description": "Accelerometer sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Accelerometer ID",
-      "ReadOnly": "True",
-      "User": "Advanced"
+    "INS_LOG_BAT_LGIN": {
+      "Description": "Interval between pushing samples to the AP_Logger log",
+      "DisplayName": "logging interval",
+      "Increment": "10",
+      "Units": "ms"
     },
-    "INS_ENABLE_MASK": {
+    "INS_LOG_BAT_MASK": {
       "Bitmask": {
-        "0": "FirstIMU",
-        "1": "SecondIMU",
-        "2": "ThirdIMU",
-        "3": "FourthIMU",
-        "4": "FifthIMU",
-        "5": "SixthIMU",
-        "6": "SeventhIMU"
+        "0": "IMU1",
+        "1": "IMU2",
+        "2": "IMU3"
       },
-      "Description": "Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs",
-      "DisplayName": "IMU enable mask",
+      "Description": "Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.",
+      "DisplayName": "Sensor Bitmask",
+      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "INS_FAST_SAMPLE": {
+    "INS_LOG_BAT_OPT": {
       "Bitmask": {
-        "0": "FirstIMU",
-        "1": "SecondIMU",
-        "2": "ThirdIMU"
+        "0": "Sensor-Rate Logging (sample at full sensor rate seen by AP)",
+        "1": "Sample post-filtering",
+        "2": "Sample pre- and post-filter"
       },
-      "Description": "Mask of IMUs to enable fast sampling on, if available",
-      "DisplayName": "Fast sampling mask",
+      "Description": "Options for the BatchSampler.",
+      "DisplayName": "Batch Logging Options Mask",
       "User": "Advanced"
-    },
-    "INS_GYR1_CALTEMP": {
+    }
+  },
+  "INS_TCAL1_": {
+    "INS_TCAL1_ACC1_X": {
       "Calibration": "1",
-      "Description": "Temperature that the 1st gyroscope was calibrated at",
-      "DisplayName": "Calibration temperature for 1st gyroscope",
-      "Units": "degC",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_GYR2OFFS_X": {
+    "INS_TCAL1_ACC1_Y": {
       "Calibration": "1",
-      "Description": "Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro2 offsets of X axis",
-      "Units": "rad/s",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_GYR2OFFS_Y": {
+    "INS_TCAL1_ACC1_Z": {
       "Calibration": "1",
-      "Description": "Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro2 offsets of Y axis",
-      "Units": "rad/s",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_GYR2OFFS_Z": {
+    "INS_TCAL1_ACC2_X": {
       "Calibration": "1",
-      "Description": "Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro2 offsets of Z axis",
-      "Units": "rad/s",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_GYR2_CALTEMP": {
+    "INS_TCAL1_ACC2_Y": {
       "Calibration": "1",
-      "Description": "Temperature that the 2nd gyroscope was calibrated at",
-      "DisplayName": "Calibration temperature for 2nd gyroscope",
-      "Units": "degC",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_GYR2_ID": {
-      "Description": "Gyro2 sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Gyro2 ID",
-      "ReadOnly": "True",
+    "INS_TCAL1_ACC2_Z": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_GYR3OFFS_X": {
+    "INS_TCAL1_ACC3_X": {
       "Calibration": "1",
-      "Description": "Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro3 offsets of X axis",
-      "Units": "rad/s",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_GYR3OFFS_Y": {
+    "INS_TCAL1_ACC3_Y": {
       "Calibration": "1",
-      "Description": "Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro3 offsets of Y axis",
-      "Units": "rad/s",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_GYR3OFFS_Z": {
+    "INS_TCAL1_ACC3_Z": {
       "Calibration": "1",
-      "Description": "Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro3 offsets of Z axis",
-      "Units": "rad/s",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_GYR3_CALTEMP": {
+    "INS_TCAL1_ENABLE": {
+      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
+      "DisplayName": "Enable temperature calibration",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled",
+        "2": "LearnCalibration"
+      }
+    },
+    "INS_TCAL1_GYR1_X": {
       "Calibration": "1",
-      "Description": "Temperature that the 3rd gyroscope was calibrated at",
-      "DisplayName": "Calibration temperature for 3rd gyroscope",
-      "Units": "degC",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_GYR3_ID": {
-      "Description": "Gyro3 sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Gyro3 ID",
-      "ReadOnly": "True",
+    "INS_TCAL1_GYR1_Y": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_GYROFFS_X": {
+    "INS_TCAL1_GYR1_Z": {
       "Calibration": "1",
-      "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro offsets of X axis",
-      "Units": "rad/s",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_GYROFFS_Y": {
+    "INS_TCAL1_GYR2_X": {
       "Calibration": "1",
-      "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro offsets of Y axis",
-      "Units": "rad/s",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_GYROFFS_Z": {
+    "INS_TCAL1_GYR2_Y": {
       "Calibration": "1",
-      "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro offsets of Z axis",
-      "Units": "rad/s",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_GYRO_FILTER": {
-      "Description": "Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)",
-      "DisplayName": "Gyro filter cutoff frequency",
-      "Range": {
-        "high": "256",
-        "low": "0"
-      },
-      "Units": "Hz",
+    "INS_TCAL1_GYR2_Z": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_GYRO_RATE": {
-      "Description": "Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.",
-      "DisplayName": "Gyro rate for IMUs with Fast Sampling enabled",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "0": "1kHz",
-        "1": "2kHz",
-        "2": "4kHz",
-        "3": "8kHz"
-      }
-    },
-    "INS_GYR_CAL": {
-      "Description": "Conrols when automatic gyro calibration is performed",
-      "DisplayName": "Gyro Calibration scheme",
-      "User": "Advanced",
-      "Values": {
-        "0": "Never",
-        "1": "Start-up only"
-      }
-    },
-    "INS_GYR_ID": {
-      "Description": "Gyro sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Gyro ID",
-      "ReadOnly": "True",
+    "INS_TCAL1_GYR3_X": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_POS1_X": {
-      "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer X position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
+    "INS_TCAL1_GYR3_Y": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_POS1_Y": {
-      "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Y position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
+    "INS_TCAL1_GYR3_Z": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_POS1_Z": {
-      "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Z position",
-      "Increment": "0.01",
+    "INS_TCAL1_TMAX": {
+      "Calibration": "1",
+      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
+      "DisplayName": "Temperature calibration max",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "80",
+        "low": "-70"
       },
-      "Units": "m",
+      "Units": "degC",
       "User": "Advanced"
     },
-    "INS_POS2_X": {
-      "Description": "X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer X position",
-      "Increment": "0.01",
+    "INS_TCAL1_TMIN": {
+      "Calibration": "1",
+      "Description": "The minimum temperature that the calibration is valid for",
+      "DisplayName": "Temperature calibration min",
       "Range": {
-        "high": "5",
-        "low": "-5"
+        "high": "80",
+        "low": "-70"
       },
-      "Units": "m",
+      "Units": "degC",
+      "User": "Advanced"
+    }
+  },
+  "INS_TCAL2_": {
+    "INS_TCAL2_ACC1_X": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_POS2_Y": {
-      "Description": "Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Y position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
+    "INS_TCAL2_ACC1_Y": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_POS2_Z": {
-      "Description": "Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Z position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
+    "INS_TCAL2_ACC1_Z": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_POS3_X": {
-      "Description": "X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer X position",
-      "Range": {
-        "high": "10",
-        "low": "-10"
-      },
-      "Units": "m",
+    "INS_TCAL2_ACC2_X": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_POS3_Y": {
-      "Description": "Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Y position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
+    "INS_TCAL2_ACC2_Y": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_POS3_Z": {
-      "Description": "Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Z position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
+    "INS_TCAL2_ACC2_Z": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_RAW_LOG_OPT": {
-      "Bitmask": {
-        "0": "Log primary gyro only",
-        "1": "Log all gyros",
-        "2": "Post filter",
-        "3": "Pre and post filter"
-      },
-      "Description": "Raw logging options bitmask",
-      "DisplayName": "Raw logging options",
+    "INS_TCAL2_ACC3_X": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS_STILL_THRESH": {
-      "Description": "Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5",
-      "DisplayName": "Stillness threshold for detecting if we are moving",
-      "Range": {
-        "high": "50",
-        "low": "0.05"
-      },
+    "INS_TCAL2_ACC3_Y": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS_TCAL_OPTIONS": {
-      "Bitmask": {
-        "0": "PersistParams"
-      },
-      "Description": "This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.",
-      "DisplayName": "Options for temperature calibration",
+    "INS_TCAL2_ACC3_Z": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS_TRIM_OPTION": {
-      "Description": "Specifies how the accel cal routine determines the trims",
-      "DisplayName": "Accel cal trim option",
-      "User": "Advanced",
-      "Values": {
-        "0": "Don't adjust the trims",
-        "1": "Assume first orientation was level",
-        "2": "Assume ACC_BODYFIX is perfectly aligned to the vehicle"
-      }
-    },
-    "INS_USE": {
-      "Description": "Use first IMU for attitude, velocity and position estimates",
-      "DisplayName": "Use first IMU for attitude, velocity and position estimates",
+    "INS_TCAL2_ENABLE": {
+      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
+      "DisplayName": "Enable temperature calibration",
+      "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "1": "Enabled",
+        "2": "LearnCalibration"
       }
     },
-    "INS_USE2": {
-      "Description": "Use second IMU for attitude, velocity and position estimates",
-      "DisplayName": "Use second IMU for attitude, velocity and position estimates",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
+    "INS_TCAL2_GYR1_X": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
+      "User": "Advanced"
     },
-    "INS_USE3": {
-      "Description": "Use third IMU for attitude, velocity and position estimates",
-      "DisplayName": "Use third IMU for attitude, velocity and position estimates",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    }
-  },
-  "INS4_": {
-    "INS4_ACCOFFS_X": {
+    "INS_TCAL2_GYR1_Y": {
       "Calibration": "1",
-      "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer offsets of X axis",
-      "Range": {
-        "high": "3.5",
-        "low": "-3.5"
-      },
-      "Units": "m/s/s",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS4_ACCOFFS_Y": {
+    "INS_TCAL2_GYR1_Z": {
       "Calibration": "1",
-      "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer offsets of Y axis",
-      "Range": {
-        "high": "3.5",
-        "low": "-3.5"
-      },
-      "Units": "m/s/s",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS4_ACCOFFS_Z": {
+    "INS_TCAL2_GYR2_X": {
       "Calibration": "1",
-      "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer offsets of Z axis",
-      "Range": {
-        "high": "3.5",
-        "low": "-3.5"
-      },
-      "Units": "m/s/s",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS4_ACCSCAL_X": {
+    "INS_TCAL2_GYR2_Y": {
       "Calibration": "1",
-      "Description": "Accelerometer scaling of X axis.  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer scaling of X axis",
-      "Range": {
-        "high": "1.2",
-        "low": "0.8"
-      },
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS4_ACCSCAL_Y": {
+    "INS_TCAL2_GYR2_Z": {
       "Calibration": "1",
-      "Description": "Accelerometer scaling of Y axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer scaling of Y axis",
-      "Range": {
-        "high": "1.2",
-        "low": "0.8"
-      },
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS4_ACCSCAL_Z": {
+    "INS_TCAL2_GYR3_X": {
       "Calibration": "1",
-      "Description": "Accelerometer scaling of Z axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer scaling of Z axis",
-      "Range": {
-        "high": "1.2",
-        "low": "0.8"
-      },
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS4_ACC_CALTEMP": {
+    "INS_TCAL2_GYR3_Y": {
       "Calibration": "1",
-      "Description": "Temperature that the accelerometer was calibrated at",
-      "DisplayName": "Calibration temperature for accelerometer",
-      "Units": "degC",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS4_ACC_ID": {
-      "Description": "Accelerometer sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Accelerometer ID",
-      "ReadOnly": "True",
+    "INS_TCAL2_GYR3_Z": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS4_GYROFFS_X": {
+    "INS_TCAL2_TMAX": {
       "Calibration": "1",
-      "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro offsets of X axis",
-      "Units": "rad/s",
+      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
+      "DisplayName": "Temperature calibration max",
+      "Range": {
+        "high": "80",
+        "low": "-70"
+      },
+      "Units": "degC",
       "User": "Advanced"
     },
-    "INS4_GYROFFS_Y": {
+    "INS_TCAL2_TMIN": {
       "Calibration": "1",
-      "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro offsets of Y axis",
-      "Units": "rad/s",
+      "Description": "The minimum temperature that the calibration is valid for",
+      "DisplayName": "Temperature calibration min",
+      "Range": {
+        "high": "80",
+        "low": "-70"
+      },
+      "Units": "degC",
+      "User": "Advanced"
+    }
+  },
+  "INS_TCAL3_": {
+    "INS_TCAL3_ACC1_X": {
+      "Calibration": "1",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS4_GYROFFS_Z": {
+    "INS_TCAL3_ACC1_Y": {
       "Calibration": "1",
-      "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro offsets of Z axis",
-      "Units": "rad/s",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS4_GYR_CALTEMP": {
+    "INS_TCAL3_ACC1_Z": {
       "Calibration": "1",
-      "Description": "Temperature that the gyroscope was calibrated at",
-      "DisplayName": "Calibration temperature for gyroscope",
-      "Units": "degC",
+      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS4_GYR_ID": {
-      "Description": "Gyro sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Gyro ID",
-      "ReadOnly": "True",
+    "INS_TCAL3_ACC2_X": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS4_POS_X": {
-      "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer X position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
+    "INS_TCAL3_ACC2_Y": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS4_POS_Y": {
-      "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Y position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
+    "INS_TCAL3_ACC2_Z": {
+      "Calibration": "1",
+      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS_TCAL3_ACC3_X": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS4_POS_Z": {
-      "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Z position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
+    "INS_TCAL3_ACC3_Y": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS4_USE": {
-      "Description": "Use first IMU for attitude, velocity and position estimates",
-      "DisplayName": "Use first IMU for attitude, velocity and position estimates",
+    "INS_TCAL3_ACC3_Z": {
+      "Calibration": "1",
+      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
+      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
+      "User": "Advanced"
+    },
+    "INS_TCAL3_ENABLE": {
+      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
+      "DisplayName": "Enable temperature calibration",
+      "RebootRequired": "True",
       "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "1": "Enabled",
+        "2": "LearnCalibration"
       }
-    }
-  },
-  "INS4_TCAL_": {
-    "INS4_TCAL_ACC1_X": {
+    },
+    "INS_TCAL3_GYR1_X": {
       "Calibration": "1",
       "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
+      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS4_TCAL_ACC1_Y": {
+    "INS_TCAL3_GYR1_Y": {
       "Calibration": "1",
       "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS4_TCAL_ACC1_Z": {
+    "INS_TCAL3_GYR1_Z": {
       "Calibration": "1",
       "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
+      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS4_TCAL_ACC2_X": {
+    "INS_TCAL3_GYR2_X": {
       "Calibration": "1",
       "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS4_TCAL_ACC2_Y": {
+    "INS_TCAL3_GYR2_Y": {
       "Calibration": "1",
       "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS4_TCAL_ACC2_Z": {
+    "INS_TCAL3_GYR2_Z": {
       "Calibration": "1",
       "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
+      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS4_TCAL_ACC3_X": {
+    "INS_TCAL3_GYR3_X": {
       "Calibration": "1",
       "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
       "User": "Advanced"
     },
-    "INS4_TCAL_ACC3_Y": {
+    "INS_TCAL3_GYR3_Y": {
       "Calibration": "1",
       "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
       "User": "Advanced"
     },
-    "INS4_TCAL_ACC3_Z": {
+    "INS_TCAL3_GYR3_Z": {
       "Calibration": "1",
       "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
+      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
       "User": "Advanced"
     },
-    "INS4_TCAL_ENABLE": {
-      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
-      "DisplayName": "Enable temperature calibration",
+    "INS_TCAL3_TMAX": {
+      "Calibration": "1",
+      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
+      "DisplayName": "Temperature calibration max",
+      "Range": {
+        "high": "80",
+        "low": "-70"
+      },
+      "Units": "degC",
+      "User": "Advanced"
+    },
+    "INS_TCAL3_TMIN": {
+      "Calibration": "1",
+      "Description": "The minimum temperature that the calibration is valid for",
+      "DisplayName": "Temperature calibration min",
+      "Range": {
+        "high": "80",
+        "low": "-70"
+      },
+      "Units": "degC",
+      "User": "Advanced"
+    }
+  },
+  "KDE_": {
+    "KDE_NPOLE": {
+      "Description": "Sets the number of motor poles to calculate the correct RPM value",
+      "DisplayName": "Number of motor poles"
+    }
+  },
+  "LEAK": {
+    "LEAK1_LOGIC": {
+      "Description": "Default reading of leak detector when dry",
+      "DisplayName": "Default reading of leak detector when dry",
+      "User": "Standard",
+      "Values": {
+        "0": "Low",
+        "1": "High"
+      }
+    },
+    "LEAK1_PIN": {
+      "Description": "Pin that the leak detector is connected to",
+      "DisplayName": "Pin that leak detector is connected to",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "13": "Pixhawk 3.3ADC1",
+        "14": "Pixhawk 3.3ADC2",
+        "15": "Pixhawk 6.6ADC",
+        "27": "Navigator Built-In",
+        "50": "AUX1",
+        "51": "AUX2",
+        "52": "AUX3",
+        "53": "AUX4",
+        "54": "AUX5",
+        "55": "AUX6"
+      }
+    },
+    "LEAK1_TYPE": {
+      "Description": "Enables leak detector 1. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK1_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.",
+      "DisplayName": "Leak detector pin type (analog/digital)",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "-1": "Disabled",
+        "0": "Analog",
+        "1": "Digital"
+      }
+    },
+    "LEAK2_LOGIC": {
+      "Description": "Default reading of leak detector when dry",
+      "DisplayName": "Default reading of leak detector when dry",
+      "User": "Standard",
+      "Values": {
+        "0": "Low",
+        "1": "High"
+      }
+    },
+    "LEAK2_PIN": {
+      "Description": "Pin that the leak detector is connected to",
+      "DisplayName": "Pin that leak detector is connected to",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "13": "Pixhawk 3.3ADC1",
+        "14": "Pixhawk 3.3ADC2",
+        "15": "Pixhawk 6.6ADC",
+        "27": "Navigator Leak1",
+        "50": "AUX1",
+        "51": "AUX2",
+        "52": "AUX3",
+        "53": "AUX4",
+        "54": "AUX5",
+        "55": "AUX6"
+      }
+    },
+    "LEAK2_TYPE": {
+      "Description": "Enables leak detector 2. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK2_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.",
+      "DisplayName": "Leak detector pin type (analog/digital)",
+      "RebootRequired": "True",
+      "User": "Advanced",
+      "Values": {
+        "-1": "Disabled",
+        "0": "Analog",
+        "1": "Digital"
+      }
+    },
+    "LEAK3_LOGIC": {
+      "Description": "Default reading of leak detector when dry",
+      "DisplayName": "Default reading of leak detector when dry",
+      "User": "Standard",
+      "Values": {
+        "0": "Low",
+        "1": "High"
+      }
+    },
+    "LEAK3_PIN": {
+      "Description": "Pin that the leak detector is connected to",
+      "DisplayName": "Pin that leak detector is connected to",
+      "RebootRequired": "True",
+      "User": "Standard",
+      "Values": {
+        "-1": "Disabled",
+        "13": "Pixhawk 3.3ADC1",
+        "14": "Pixhawk 3.3ADC2",
+        "15": "Pixhawk 6.6ADC",
+        "27": "Navigator Leak1",
+        "50": "AUX1",
+        "51": "AUX2",
+        "52": "AUX3",
+        "53": "AUX4",
+        "54": "AUX5",
+        "55": "AUX6"
+      }
+    },
+    "LEAK3_TYPE": {
+      "Description": "Enables leak detector 3. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK3_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.",
+      "DisplayName": "Leak detector pin type (analog/digital)",
       "RebootRequired": "True",
       "User": "Advanced",
+      "Values": {
+        "-1": "Disabled",
+        "0": "Analog",
+        "1": "Digital"
+      }
+    }
+  },
+  "LOG": {
+    "LOG_BACKEND_TYPE": {
+      "Bitmask": {
+        "0": "File",
+        "1": "MAVLink",
+        "2": "Block"
+      },
+      "Description": "Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.",
+      "DisplayName": "AP_Logger Backend Storage type",
+      "User": "Standard"
+    },
+    "LOG_BLK_RATEMAX": {
+      "Description": "This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.",
+      "DisplayName": "Maximum logging rate for block backend",
+      "Increment": "0.1",
+      "Range": {
+        "high": "1000",
+        "low": "0"
+      },
+      "Units": "Hz",
+      "User": "Standard"
+    },
+    "LOG_DARM_RATEMAX": {
+      "Description": "This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.",
+      "DisplayName": "Maximum logging rate when disarmed",
+      "Increment": "0.1",
+      "Range": {
+        "high": "1000",
+        "low": "0"
+      },
+      "Units": "Hz",
+      "User": "Standard"
+    },
+    "LOG_DISARMED": {
+      "Description": "If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.",
+      "DisplayName": "Enable logging while disarmed",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
         "1": "Enabled",
-        "2": "LearnCalibration"
+        "2": "Disabled on USB connection",
+        "3": "Discard log on reboot if never armed"
       }
     },
-    "INS4_TCAL_GYR1_X": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
-      "User": "Advanced"
-    },
-    "INS4_TCAL_GYR1_Y": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
-      "User": "Advanced"
-    },
-    "INS4_TCAL_GYR1_Z": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
-      "User": "Advanced"
-    },
-    "INS4_TCAL_GYR2_X": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
-      "User": "Advanced"
+    "LOG_FILE_BUFSIZE": {
+      "Description": "The File and Block backends use a buffer to store data before writing to the block device.  Raising this value may reduce \"gaps\" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.",
+      "DisplayName": "Maximum AP_Logger File and Block Backend buffer size (in kilobytes)",
+      "User": "Standard"
     },
-    "INS4_TCAL_GYR2_Y": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "LOG_FILE_DSRMROT": {
+      "Description": "When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.",
+      "DisplayName": "Stop logging to current file on disarm",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS4_TCAL_GYR2_Z": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "LOG_FILE_MB_FREE": {
+      "Description": "Set this such that the free space is larger than your largest typical flight log",
+      "DisplayName": "Old logs on the SD card will be deleted to maintain this amount of free space",
+      "Range": {
+        "high": "1000",
+        "low": "10"
+      },
+      "Units": "MB",
+      "User": "Standard"
     },
-    "INS4_TCAL_GYR3_X": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
-      "User": "Advanced"
+    "LOG_FILE_RATEMAX": {
+      "Description": "This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.",
+      "DisplayName": "Maximum logging rate for file backend",
+      "Increment": "0.1",
+      "Range": {
+        "high": "1000",
+        "low": "0"
+      },
+      "Units": "Hz",
+      "User": "Standard"
     },
-    "INS4_TCAL_GYR3_Y": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "LOG_FILE_TIMEOUT": {
+      "Description": "This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.",
+      "DisplayName": "Timeout before giving up on file writes",
+      "Units": "s",
+      "User": "Standard"
     },
-    "INS4_TCAL_GYR3_Z": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
+    "LOG_MAV_BUFSIZE": {
+      "Description": "Maximum amount of memory to allocate to AP_Logger-over-mavlink",
+      "DisplayName": "Maximum AP_Logger MAVLink Backend buffer size",
+      "Units": "kB",
       "User": "Advanced"
     },
-    "INS4_TCAL_TMAX": {
-      "Calibration": "1",
-      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
-      "DisplayName": "Temperature calibration max",
+    "LOG_MAV_RATEMAX": {
+      "Description": "This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.",
+      "DisplayName": "Maximum logging rate for mavlink backend",
+      "Increment": "0.1",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "1000",
+        "low": "0"
       },
-      "Units": "degC",
-      "User": "Advanced"
+      "Units": "Hz",
+      "User": "Standard"
     },
-    "INS4_TCAL_TMIN": {
-      "Calibration": "1",
-      "Description": "The minimum temperature that the calibration is valid for",
-      "DisplayName": "Temperature calibration min",
+    "LOG_MAX_FILES": {
+      "Description": "This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.",
+      "DisplayName": "Maximum number of log files",
+      "Increment": "1",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "500",
+        "low": "2"
       },
-      "Units": "degC",
+      "RebootRequired": "True",
       "User": "Advanced"
+    },
+    "LOG_REPLAY": {
+      "Description": "If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.",
+      "DisplayName": "Enable logging of information needed for Replay",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     }
   },
-  "INS5_": {
-    "INS5_ACCOFFS_X": {
-      "Calibration": "1",
-      "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer offsets of X axis",
+  "LOIT_": {
+    "LOIT_ACC_MAX": {
+      "Description": "Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively.",
+      "DisplayName": "Loiter maximum correction acceleration",
+      "Increment": "1",
       "Range": {
-        "high": "3.5",
-        "low": "-3.5"
+        "high": "981",
+        "low": "100"
       },
-      "Units": "m/s/s",
+      "Units": "cm/s/s",
       "User": "Advanced"
     },
-    "INS5_ACCOFFS_Y": {
-      "Calibration": "1",
-      "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer offsets of Y axis",
+    "LOIT_ANG_MAX": {
+      "Description": "Loiter maximum pilot requested lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX/ANGLE_MAX. The maximum vehicle lean angle is still limited by PSC_ANGLE_MAX/ANGLE_MAX",
+      "DisplayName": "Loiter pilot angle max",
+      "Increment": "1",
       "Range": {
-        "high": "3.5",
-        "low": "-3.5"
+        "high": "45",
+        "low": "0"
       },
-      "Units": "m/s/s",
+      "Units": "deg",
       "User": "Advanced"
     },
-    "INS5_ACCOFFS_Z": {
-      "Calibration": "1",
-      "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations",
-      "DisplayName": "Accelerometer offsets of Z axis",
+    "LOIT_BRK_ACCEL": {
+      "Description": "Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.",
+      "DisplayName": "Loiter braking acceleration",
+      "Increment": "1",
       "Range": {
-        "high": "3.5",
-        "low": "-3.5"
+        "high": "250",
+        "low": "25"
       },
-      "Units": "m/s/s",
+      "Units": "cm/s/s",
       "User": "Advanced"
     },
-    "INS5_ACCSCAL_X": {
-      "Calibration": "1",
-      "Description": "Accelerometer scaling of X axis.  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer scaling of X axis",
+    "LOIT_BRK_DELAY": {
+      "Description": "Loiter brake start delay (in seconds)",
+      "DisplayName": "Loiter brake start delay (in seconds)",
+      "Increment": "0.1",
       "Range": {
-        "high": "1.2",
-        "low": "0.8"
+        "high": "2",
+        "low": "0"
       },
+      "Units": "s",
       "User": "Advanced"
     },
-    "INS5_ACCSCAL_Y": {
-      "Calibration": "1",
-      "Description": "Accelerometer scaling of Y axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer scaling of Y axis",
+    "LOIT_BRK_JERK": {
+      "Description": "Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.",
+      "DisplayName": "Loiter braking jerk",
+      "Increment": "1",
       "Range": {
-        "high": "1.2",
-        "low": "0.8"
+        "high": "5000",
+        "low": "500"
       },
+      "Units": "cm/s/s/s",
       "User": "Advanced"
     },
-    "INS5_ACCSCAL_Z": {
-      "Calibration": "1",
-      "Description": "Accelerometer scaling of Z axis  Calculated during acceleration calibration routine",
-      "DisplayName": "Accelerometer scaling of Z axis",
+    "LOIT_SPEED": {
+      "Description": "Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode",
+      "DisplayName": "Loiter Horizontal Maximum Speed",
+      "Increment": "50",
       "Range": {
-        "high": "1.2",
-        "low": "0.8"
+        "high": "3500",
+        "low": "20"
       },
-      "User": "Advanced"
+      "Units": "cm/s",
+      "User": "Standard"
+    }
+  },
+  "Lua Script": {
+    "AEROM_ALT_ABORT": {
+      "Description": "Maximum allowable loss in altitude during a trick or sequence from its starting altitude.",
+      "DisplayName": "Altitude Abort",
+      "Units": "m"
     },
-    "INS5_ACC_CALTEMP": {
-      "Calibration": "1",
-      "Description": "Temperature that the accelerometer was calibrated at",
-      "DisplayName": "Calibration temperature for accelerometer",
-      "Units": "degC",
-      "User": "Advanced"
+    "AEROM_ANG_ACCEL": {
+      "Description": "Maximum angular acceleration in maneuvers",
+      "DisplayName": "Angular acceleration limit",
+      "Units": "deg/s/s"
     },
-    "INS5_ACC_ID": {
-      "Description": "Accelerometer sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Accelerometer ID",
-      "ReadOnly": "True",
-      "User": "Advanced"
+    "AEROM_ANG_TC": {
+      "Description": "This is the time over which we filter the desired roll to smooth it",
+      "DisplayName": "Roll control filtertime constant",
+      "Units": "s"
+    },
+    "AEROM_BOX_WIDTH": {
+      "Description": "Length of aerobatic \"box\" ",
+      "DisplayName": "Box Width",
+      "Units": "m"
+    },
+    "AEROM_DEBUG": {
+      "Description": "This controls the printing of extra debug information on paths",
+      "DisplayName": "Debug control"
+    },
+    "AEROM_ENTRY_RATE": {
+      "Description": "This controls how rapidly we roll into a new orientation",
+      "DisplayName": "The roll rate to use when entering a roll maneuver",
+      "Units": "deg/s"
+    },
+    "AEROM_ERR_COR_D": {
+      "Description": "This controls how rapidly we correct back onto the desired path",
+      "DisplayName": "D gain for path error corrections"
     },
-    "INS5_GYROFFS_X": {
-      "Calibration": "1",
-      "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro offsets of X axis",
-      "Units": "rad/s",
-      "User": "Advanced"
+    "AEROM_ERR_COR_P": {
+      "Description": "This controls how rapidly we correct back onto the desired path",
+      "DisplayName": "P gain for path error corrections"
     },
-    "INS5_GYROFFS_Y": {
-      "Calibration": "1",
-      "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro offsets of Y axis",
-      "Units": "rad/s",
-      "User": "Advanced"
+    "AEROM_KE_RUDD": {
+      "Description": "Percent of rudder normally uses to sustain knife-edge at trick speed",
+      "DisplayName": "KnifeEdge Rudder",
+      "Units": "%"
     },
-    "INS5_GYROFFS_Z": {
-      "Calibration": "1",
-      "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations",
-      "DisplayName": "Gyro offsets of Z axis",
-      "Units": "rad/s",
-      "User": "Advanced"
+    "AEROM_KE_RUDD_LK": {
+      "Description": "Time to look ahead in the path to calculate rudder correction for bank angle",
+      "DisplayName": "KnifeEdge Rudder lookahead",
+      "Units": "s"
     },
-    "INS5_GYR_CALTEMP": {
-      "Calibration": "1",
-      "Description": "Temperature that the gyroscope was calibrated at",
-      "DisplayName": "Calibration temperature for gyroscope",
-      "Units": "degC",
-      "User": "Advanced"
+    "AEROM_LKAHD": {
+      "Description": "This is how much time to look ahead in the path for calculating path rates",
+      "DisplayName": "Lookahead",
+      "Units": "s"
     },
-    "INS5_GYR_ID": {
-      "Description": "Gyro sensor ID, taking into account its type, bus and instance",
-      "DisplayName": "Gyro ID",
-      "ReadOnly": "True",
-      "User": "Advanced"
+    "AEROM_MIS_ANGLE": {
+      "Description": "When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used",
+      "DisplayName": "Mission angle",
+      "Units": "deg"
     },
-    "INS5_POS_X": {
-      "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer X position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
+    "AEROM_OPTIONS": {
+      "Bitmask": {
+        "0": "UseRTLOnAbort",
+        "1": "AddAtToMessages",
+        "2": "DualAircraftSynchronised"
       },
-      "Units": "m",
-      "User": "Advanced"
+      "Description": "Options to control aerobatic behavior",
+      "DisplayName": "Aerobatic options",
+      "Units": "deg"
     },
-    "INS5_POS_Y": {
-      "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Y position",
-      "Increment": "0.01",
+    "AEROM_PATH_SCALE": {
+      "Description": "Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.",
+      "DisplayName": "Path Scale",
       "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
-      "User": "Advanced"
+        "high": "100",
+        "low": "0.1"
+      }
     },
-    "INS5_POS_Z": {
-      "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.",
-      "DisplayName": "IMU accelerometer Z position",
-      "Increment": "0.01",
-      "Range": {
-        "high": "5",
-        "low": "-5"
-      },
-      "Units": "m",
-      "User": "Advanced"
+    "AEROM_ROL_COR_TC": {
+      "Description": "This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections",
+      "DisplayName": "Roll control time constant",
+      "Units": "s"
     },
-    "INS5_USE": {
-      "Description": "Use first IMU for attitude, velocity and position estimates",
-      "DisplayName": "Use first IMU for attitude, velocity and position estimates",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
-    }
-  },
-  "INS5_TCAL_": {
-    "INS5_TCAL_ACC1_X": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
-      "User": "Advanced"
+    "AEROM_SPD_I": {
+      "Description": "This controls how rapidly the throttle is raised to compensate for a speed error",
+      "DisplayName": "I gain for speed controller",
+      "Units": "%"
     },
-    "INS5_TCAL_ACC1_Y": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
-      "User": "Advanced"
+    "AEROM_SPD_P": {
+      "Description": "This controls how rapidly the throttle is raised to compensate for a speed error",
+      "DisplayName": "P gain for speed controller",
+      "Units": "%"
     },
-    "INS5_TCAL_ACC1_Z": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
-      "User": "Advanced"
+    "AEROM_STALL_PIT": {
+      "Description": "Pitch threashold for moving to final stage of stall turn",
+      "DisplayName": "Stall turn pitch threshold",
+      "Units": "deg"
     },
-    "INS5_TCAL_ACC2_X": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
-      "User": "Advanced"
+    "AEROM_STALL_THR": {
+      "Description": "Amount of throttle to reduce to for a stall turn",
+      "DisplayName": "Stall turn throttle",
+      "Units": "%"
     },
-    "INS5_TCAL_ACC2_Y": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "AEROM_THR_BOOST": {
+      "Description": "This is the extra throttle added in schedule elements marked as needing a throttle boost",
+      "DisplayName": "Throttle boost",
+      "Units": "%"
     },
-    "INS5_TCAL_ACC2_Z": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "AEROM_THR_LKAHD": {
+      "Description": "This controls how far ahead we look in time along the path for the target throttle",
+      "DisplayName": "The lookahead for throttle control",
+      "Units": "s"
     },
-    "INS5_TCAL_ACC3_X": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
-      "User": "Advanced"
+    "AEROM_THR_MIN": {
+      "Description": "Lowest throttle used during maneuvers",
+      "DisplayName": "Minimum Throttle",
+      "Units": "%"
     },
-    "INS5_TCAL_ACC3_Y": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "AEROM_THR_PIT_FF": {
+      "Description": "This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch",
+      "DisplayName": "Throttle feed forward from pitch",
+      "Units": "%"
     },
-    "INS5_TCAL_ACC3_Z": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "AEROM_TIME_COR_P": {
+      "Description": "This is the time constant for correcting path position errors",
+      "DisplayName": "Time constant for correction of our distance along the path",
+      "Units": "s"
     },
-    "INS5_TCAL_ENABLE": {
-      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
-      "DisplayName": "Enable temperature calibration",
-      "RebootRequired": "True",
-      "User": "Advanced",
+    "AEROM_TS_I": {
+      "Description": "This controls how rapidly two aircraft are brought back into time sync",
+      "DisplayName": "Timesync I gain"
+    },
+    "AEROM_TS_P": {
+      "Description": "This controls how rapidly two aircraft are brought back into time sync",
+      "DisplayName": "Timesync P gain"
+    },
+    "AEROM_TS_RATE": {
+      "Description": "This sets the rate we send data for time sync between aircraft",
+      "DisplayName": "Timesync rate of send of NAMED_VALUE_FLOAT data",
+      "Units": "Hz"
+    },
+    "AEROM_TS_SPDMAX": {
+      "Description": "This sets the maximum speed adjustment for time sync between aircraft",
+      "DisplayName": "Timesync speed max",
+      "Units": "m/s"
+    },
+    "AEROM_YAW_ACCEL": {
+      "Description": "This is maximum yaw acceleration to use",
+      "DisplayName": "Yaw acceleration",
+      "Units": "deg/s/s"
+    },
+    "BATT_ANX_CANDRV": {
+      "Description": "Set ANX CAN driver",
+      "DisplayName": "Set ANX CAN driver",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "1": "1stCANDriver",
+        "2": "2ndCanDriver"
+      }
+    },
+    "BATT_ANX_ENABLE": {
+      "Description": "Enable ANX battery support",
+      "DisplayName": "Enable ANX battery support",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled",
-        "2": "LearnCalibration"
+        "1": "Enabled"
       }
     },
-    "INS5_TCAL_GYR1_X": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
-      "User": "Advanced"
+    "BATT_ANX_INDEX": {
+      "Description": "ANX CAN battery index",
+      "DisplayName": "ANX CAN battery index",
+      "Range": {
+        "high": "10",
+        "low": "1"
+      },
+      "User": "Standard"
     },
-    "INS5_TCAL_GYR1_Y": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
+    "BATT_ANX_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "ANX CAN battery options",
+      "DisplayName": "ANX CAN battery options",
       "User": "Advanced"
     },
-    "INS5_TCAL_GYR1_Z": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
-      "User": "Advanced"
+    "BATT_SOC1_C1": {
+      "Description": "Battery estimator coefficient1",
+      "DisplayName": "Battery estimator coefficient1",
+      "Range": {
+        "high": "200",
+        "low": "100"
+      },
+      "User": "Standard"
     },
-    "INS5_TCAL_GYR2_X": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
-      "User": "Advanced"
+    "BATT_SOC1_C2": {
+      "Description": "Battery estimator coefficient2",
+      "DisplayName": "Battery estimator coefficient2",
+      "Range": {
+        "high": "5",
+        "low": "2"
+      },
+      "User": "Standard"
     },
-    "INS5_TCAL_GYR2_Y": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "BATT_SOC1_C3": {
+      "Description": "Battery estimator coefficient3",
+      "DisplayName": "Battery estimator coefficient3",
+      "Range": {
+        "high": "0.5",
+        "low": "0.01"
+      },
+      "User": "Standard"
     },
-    "INS5_TCAL_GYR2_Z": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "BATT_SOC1_IDX": {
+      "Description": "Battery estimator index",
+      "DisplayName": "Battery estimator index",
+      "Range": {
+        "high": "4",
+        "low": "0"
+      },
+      "User": "Standard"
     },
-    "INS5_TCAL_GYR3_X": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
-      "User": "Advanced"
+    "BATT_SOC1_NCELL": {
+      "Description": "Battery estimator cell count",
+      "DisplayName": "Battery estimator cell count",
+      "Range": {
+        "high": "48",
+        "low": "0"
+      },
+      "User": "Standard"
     },
-    "INS5_TCAL_GYR3_Y": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "BATT_SOC2_C1": {
+      "Description": "Battery estimator coefficient1",
+      "DisplayName": "Battery estimator coefficient1",
+      "Range": {
+        "high": "200",
+        "low": "100"
+      },
+      "User": "Standard"
     },
-    "INS5_TCAL_GYR3_Z": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "BATT_SOC2_C2": {
+      "Description": "Battery estimator coefficient2",
+      "DisplayName": "Battery estimator coefficient2",
+      "Range": {
+        "high": "5",
+        "low": "2"
+      },
+      "User": "Standard"
     },
-    "INS5_TCAL_TMAX": {
-      "Calibration": "1",
-      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
-      "DisplayName": "Temperature calibration max",
+    "BATT_SOC2_C3": {
+      "Description": "Battery estimator coefficient3",
+      "DisplayName": "Battery estimator coefficient3",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "0.5",
+        "low": "0.01"
       },
-      "Units": "degC",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS5_TCAL_TMIN": {
-      "Calibration": "1",
-      "Description": "The minimum temperature that the calibration is valid for",
-      "DisplayName": "Temperature calibration min",
+    "BATT_SOC2_IDX": {
+      "Description": "Battery estimator index",
+      "DisplayName": "Battery estimator index",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "4",
+        "low": "0"
       },
-      "Units": "degC",
-      "User": "Advanced"
-    }
-  },
-  "INS_HNTC2_": {
-    "INS_HNTC2_ATT": {
-      "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.",
-      "DisplayName": "Harmonic Notch Filter attenuation",
+      "User": "Standard"
+    },
+    "BATT_SOC2_NCELL": {
+      "Description": "Battery estimator cell count",
+      "DisplayName": "Battery estimator cell count",
       "Range": {
-        "high": "50",
-        "low": "5"
+        "high": "48",
+        "low": "0"
       },
-      "Units": "dB",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_HNTC2_BW": {
-      "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.",
-      "DisplayName": "Harmonic Notch Filter bandwidth",
+    "BATT_SOC3_C1": {
+      "Description": "Battery estimator coefficient1",
+      "DisplayName": "Battery estimator coefficient1",
       "Range": {
-        "high": "250",
-        "low": "5"
+        "high": "200",
+        "low": "100"
       },
-      "Units": "Hz",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_HNTC2_ENABLE": {
-      "Description": "Harmonic Notch Filter enable",
-      "DisplayName": "Harmonic Notch Filter enable",
-      "User": "Advanced",
-      "Values": {
-        "0": "Disabled",
-        "1": "Enabled"
-      }
+    "BATT_SOC3_C2": {
+      "Description": "Battery estimator coefficient2",
+      "DisplayName": "Battery estimator coefficient2",
+      "Range": {
+        "high": "5",
+        "low": "2"
+      },
+      "User": "Standard"
     },
-    "INS_HNTC2_FM_RAT": {
-      "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.",
-      "DisplayName": "Throttle notch min freqency ratio",
+    "BATT_SOC3_C3": {
+      "Description": "Battery estimator coefficient3",
+      "DisplayName": "Battery estimator coefficient3",
       "Range": {
-        "high": "1.0",
-        "low": "0.1"
+        "high": "0.5",
+        "low": "0.01"
       },
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_HNTC2_FREQ": {
-      "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ",
-      "DisplayName": "Harmonic Notch Filter base frequency",
+    "BATT_SOC3_IDX": {
+      "Description": "Battery estimator index",
+      "DisplayName": "Battery estimator index",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "4",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_HNTC2_HMNCS": {
-      "Bitmask": {
-        "0": "1st harmonic",
-        "1": "2nd harmonic",
-        "10": "11th harmonic",
-        "11": "12th harmonic",
-        "12": "13th harmonic",
-        "13": "14th harmonic",
-        "14": "15th harmonic",
-        "15": "16th harmonic",
-        "2": "3rd harmonic",
-        "3": "4th harmonic",
-        "4": "5th harmonic",
-        "5": "6th harmonic",
-        "6": "7th harmonic",
-        "7": "8th harmonic",
-        "8": "9th harmonic",
-        "9": "10th harmonic"
+    "BATT_SOC3_NCELL": {
+      "Description": "Battery estimator cell count",
+      "DisplayName": "Battery estimator cell count",
+      "Range": {
+        "high": "48",
+        "low": "0"
       },
-      "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.",
-      "DisplayName": "Harmonic Notch Filter harmonics",
-      "RebootRequired": "True",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_HNTC2_MODE": {
-      "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.",
-      "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode",
+    "BATT_SOC4_C1": {
+      "Description": "Battery estimator coefficient1",
+      "DisplayName": "Battery estimator coefficient1",
+      "Range": {
+        "high": "200",
+        "low": "100"
+      },
+      "User": "Standard"
+    },
+    "BATT_SOC4_C2": {
+      "Description": "Battery estimator coefficient2",
+      "DisplayName": "Battery estimator coefficient2",
       "Range": {
         "high": "5",
-        "low": "0"
+        "low": "2"
       },
-      "User": "Advanced",
-      "Values": {
-        "0": "Fixed",
-        "1": "Throttle",
-        "2": "RPM Sensor",
-        "3": "ESC Telemetry",
-        "4": "Dynamic FFT",
-        "5": "Second RPM Sensor"
-      }
+      "User": "Standard"
     },
-    "INS_HNTC2_OPTS": {
-      "Bitmask": {
-        "0": "Double notch",
-        "1": "Multi-Source",
-        "2": "Update at loop rate",
-        "3": "EnableOnAllIMUs",
-        "4": "Triple notch"
+    "BATT_SOC4_C3": {
+      "Description": "Battery estimator coefficient3",
+      "DisplayName": "Battery estimator coefficient3",
+      "Range": {
+        "high": "0.5",
+        "low": "0.01"
       },
-      "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.",
-      "DisplayName": "Harmonic Notch Filter options",
-      "RebootRequired": "True",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_HNTC2_REF": {
-      "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter.  For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter.  This reference value may also be used to scale the sensor data, if required.  For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.",
-      "DisplayName": "Harmonic Notch Filter reference value",
+    "BATT_SOC4_IDX": {
+      "Description": "Battery estimator index",
+      "DisplayName": "Battery estimator index",
       "Range": {
-        "high": "1.0",
-        "low": "0.0"
+        "high": "4",
+        "low": "0"
       },
-      "RebootRequired": "True",
-      "User": "Advanced"
-    }
-  },
-  "INS_HNTCH_": {
-    "INS_HNTCH_ATT": {
-      "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.",
-      "DisplayName": "Harmonic Notch Filter attenuation",
+      "User": "Standard"
+    },
+    "BATT_SOC4_NCELL": {
+      "Description": "Battery estimator cell count",
+      "DisplayName": "Battery estimator cell count",
       "Range": {
-        "high": "50",
-        "low": "5"
+        "high": "48",
+        "low": "0"
       },
-      "Units": "dB",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_HNTCH_BW": {
-      "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.",
-      "DisplayName": "Harmonic Notch Filter bandwidth",
+    "BATT_SOC_COUNT": {
+      "Description": "Number of battery SOC estimators",
+      "DisplayName": "Count of SOC estimators",
       "Range": {
-        "high": "250",
-        "low": "5"
+        "high": "4",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_HNTCH_ENABLE": {
-      "Description": "Harmonic Notch Filter enable",
-      "DisplayName": "Harmonic Notch Filter enable",
+    "DJIR_DEBUG": {
+      "Description": "Enable DJIRS2 debug",
+      "DisplayName": "DJIRS2 debug",
       "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled",
+        "2": "Enabled with attitude reporting"
+      }
+    },
+    "DJIR_UPSIDEDOWN": {
+      "Description": "DJIRS2 upside down",
+      "DisplayName": "DJIRS2 upside down",
+      "User": "Standard",
+      "Values": {
+        "0": "Right side up",
+        "1": "Upside down"
+      }
+    },
+    "DR_ENABLE": {
+      "Description": "Deadreckoning Enable",
+      "DisplayName": "Deadreckoning Enable",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
         "1": "Enabled"
       }
     },
-    "INS_HNTCH_FM_RAT": {
-      "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.",
-      "DisplayName": "Throttle notch min freqency ratio",
+    "DR_ENABLE_DIST": {
+      "Description": "Distance from home (in meters) beyond which the dead reckoning will be enabled",
+      "DisplayName": "Deadreckoning Enable Distance",
+      "Units": "m",
+      "User": "Standard"
+    },
+    "DR_FLY_ALT_MIN": {
+      "Description": "Copter will fly at at least this altitude (in meters) above home during deadreckoning",
+      "DisplayName": "Deadreckoning Altitude Min",
       "Range": {
-        "high": "1.0",
-        "low": "0.1"
+        "high": "1000",
+        "low": "0"
       },
-      "User": "Advanced"
+      "Units": "m",
+      "User": "Standard"
     },
-    "INS_HNTCH_FREQ": {
-      "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ",
-      "DisplayName": "Harmonic Notch Filter base frequency",
+    "DR_FLY_ANGLE": {
+      "Description": "lean angle (in degrees) during deadreckoning",
+      "DisplayName": "Deadreckoning Lean Angle",
       "Range": {
-        "high": "495",
-        "low": "10"
+        "high": "45",
+        "low": "0"
       },
-      "Units": "Hz",
-      "User": "Advanced"
+      "Units": "deg",
+      "User": "Standard"
     },
-    "INS_HNTCH_HMNCS": {
-      "Bitmask": {
-        "0": "1st harmonic",
-        "1": "2nd harmonic",
-        "10": "11th harmonic",
-        "11": "12th harmonic",
-        "12": "13th harmonic",
-        "13": "14th harmonic",
-        "14": "15th harmonic",
-        "15": "16th harmonic",
-        "2": "3rd harmonic",
-        "3": "4th harmonic",
-        "4": "5th harmonic",
-        "5": "6th harmonic",
-        "6": "7th harmonic",
-        "7": "8th harmonic",
-        "8": "9th harmonic",
-        "9": "10th harmonic"
-      },
-      "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.",
-      "DisplayName": "Harmonic Notch Filter harmonics",
-      "RebootRequired": "True",
-      "User": "Advanced"
+    "DR_FLY_TIMEOUT": {
+      "Description": "Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning.  If it cannot switch modes it will continue in Guided_NoGPS.  Set to 0 to disable timeout",
+      "DisplayName": "Deadreckoning flight timeout",
+      "Units": "s",
+      "User": "Standard"
     },
-    "INS_HNTCH_MODE": {
-      "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.",
-      "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode",
+    "DR_GPS_SACC_MAX": {
+      "Description": "GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8).  Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy",
+      "DisplayName": "Deadreckoning GPS speed accuracy maximum threshold",
       "Range": {
-        "high": "5",
+        "high": "10",
         "low": "0"
       },
-      "User": "Advanced",
-      "Values": {
-        "0": "Fixed",
-        "1": "Throttle",
-        "2": "RPM Sensor",
-        "3": "ESC Telemetry",
-        "4": "Dynamic FFT",
-        "5": "Second RPM Sensor"
-      }
-    },
-    "INS_HNTCH_OPTS": {
-      "Bitmask": {
-        "0": "Double notch",
-        "1": "Multi-Source",
-        "2": "Update at loop rate",
-        "3": "EnableOnAllIMUs",
-        "4": "Triple notch"
-      },
-      "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.",
-      "DisplayName": "Harmonic Notch Filter options",
-      "RebootRequired": "True",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_HNTCH_REF": {
-      "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter.  For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed.  The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter.  This reference value may also be used to scale the sensor data, if required.  For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.",
-      "DisplayName": "Harmonic Notch Filter reference value",
+    "DR_GPS_SAT_MIN": {
+      "Description": "GPS satellite count threshold below which deadreckoning home will begin (default is 6).  Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count",
+      "DisplayName": "Deadreckoning GPS satellite count min threshold",
       "Range": {
-        "high": "1.0",
-        "low": "0.0"
+        "high": "30",
+        "low": "0"
       },
-      "RebootRequired": "True",
-      "User": "Advanced"
-    }
-  },
-  "INS_LOG_": {
-    "INS_LOG_BAT_CNT": {
-      "Description": "Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32. This option takes effect on the next reboot.",
-      "DisplayName": "sample count per batch",
-      "Increment": "32",
-      "RebootRequired": "True",
-      "User": "Advanced"
-    },
-    "INS_LOG_BAT_LGCT": {
-      "Description": "Number of samples to push to count every INS_LOG_BAT_LGIN",
-      "DisplayName": "logging count",
-      "Increment": "1"
+      "User": "Standard"
     },
-    "INS_LOG_BAT_LGIN": {
-      "Description": "Interval between pushing samples to the AP_Logger log",
-      "DisplayName": "logging interval",
-      "Increment": "10",
-      "Units": "ms"
+    "DR_GPS_TRIGG_SEC": {
+      "Description": "GPS checks must fail for this many seconds before dead reckoning will be triggered",
+      "DisplayName": "Deadreckoning GPS check trigger seconds",
+      "Units": "s",
+      "User": "Standard"
     },
-    "INS_LOG_BAT_MASK": {
-      "Bitmask": {
-        "0": "IMU1",
-        "1": "IMU2",
-        "2": "IMU3"
-      },
-      "Description": "Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.",
-      "DisplayName": "Sensor Bitmask",
-      "RebootRequired": "True",
-      "User": "Advanced"
+    "DR_NEXT_MODE": {
+      "Description": "Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed.  Default is 6/RTL.  Set to -1 to return to mode used before deadreckoning was triggered",
+      "DisplayName": "Deadreckoning Next Mode",
+      "User": "Standard",
+      "Values": {
+        "16": "PosHold",
+        "17": "Brake",
+        "2": "AltHold",
+        "20": "Guided_NoGPS",
+        "21": "Smart_RTL",
+        "27": "Auto RTL",
+        "3": "Auto",
+        "4": "Guided",
+        "5": "Loiter",
+        "6": "RTL",
+        "7": "Circle",
+        "9": "Land"
+      }
     },
-    "INS_LOG_BAT_OPT": {
-      "Bitmask": {
-        "0": "Sensor-Rate Logging (sample at full sensor rate seen by AP)",
-        "1": "Sample post-filtering",
-        "2": "Sample pre- and post-filter"
-      },
-      "Description": "Options for the BatchSampler.",
-      "DisplayName": "Batch Logging Options Mask",
-      "User": "Advanced"
-    }
-  },
-  "INS_TCAL1_": {
-    "INS_TCAL1_ACC1_X": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
-      "User": "Advanced"
+    "EFI_DLA_ENABLE": {
+      "Description": "Enable EFI DLA driver",
+      "DisplayName": "EFI DLA enable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL1_ACC1_Y": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
-      "User": "Advanced"
+    "EFI_DLA_LPS": {
+      "Description": "EFI DLA litres of fuel per second of injection time",
+      "DisplayName": "EFI DLA fuel scale",
+      "Range": {
+        "high": "1",
+        "low": "0.00001"
+      },
+      "Units": "litres",
+      "User": "Standard"
     },
-    "INS_TCAL1_ACC1_Z": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
-      "User": "Advanced"
+    "EFI_H6K_CANDRV": {
+      "Description": "Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver",
+      "DisplayName": "Halo6000 CAN driver",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "FirstCAN",
+        "2": "SecondCAN"
+      }
     },
-    "INS_TCAL1_ACC2_X": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
-      "User": "Advanced"
+    "EFI_H6K_ENABLE": {
+      "Description": "Enable Halo6000 EFI driver",
+      "DisplayName": "Enable Halo6000 EFI driver",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL1_ACC2_Y": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "EFI_H6K_FUELTOT": {
+      "Description": "The capacity of the tank in litres",
+      "DisplayName": "Halo6000 total fuel capacity",
+      "Units": "litres",
+      "User": "Standard"
     },
-    "INS_TCAL1_ACC2_Z": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "EFI_H6K_START_FN": {
+      "Description": "The RC auxilliary function number for start/stop of the generator. Zero to disable start function",
+      "DisplayName": "Halo6000 start auxilliary function",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "300": "300",
+        "301": "301",
+        "302": "302",
+        "303": "303",
+        "304": "304",
+        "305": "305",
+        "306": "306",
+        "307": "307"
+      }
     },
-    "INS_TCAL1_ACC3_X": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
-      "User": "Advanced"
+    "EFI_H6K_TELEM_RT": {
+      "Description": "The rate that additional generator telemetry is sent",
+      "DisplayName": "Halo6000 telemetry rate",
+      "Units": "Hz",
+      "User": "Standard"
     },
-    "INS_TCAL1_ACC3_Y": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "EFI_INF_ENABLE": {
+      "Description": "Enable EFI INF-Inject driver",
+      "DisplayName": "EFI INF-Inject enable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL1_ACC3_Z": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "EFI_SP_CANDRV": {
+      "Description": "Set SkyPower EFI CAN driver",
+      "DisplayName": "Set SkyPower EFI CAN driver",
+      "User": "Standard",
+      "Values": {
+        "0": "None",
+        "1": "1stCANDriver",
+        "2": "2ndCanDriver"
+      }
     },
-    "INS_TCAL1_ENABLE": {
-      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
-      "DisplayName": "Enable temperature calibration",
-      "RebootRequired": "True",
-      "User": "Advanced",
+    "EFI_SP_ENABLE": {
+      "Description": "Enable SkyPower EFI support",
+      "DisplayName": "Enable SkyPower EFI support",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled",
-        "2": "LearnCalibration"
+        "1": "Enabled"
       }
     },
-    "INS_TCAL1_GYR1_X": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
-      "User": "Advanced"
+    "EFI_SP_GEN_CTRL": {
+      "Description": "SkyPower EFI enable generator control",
+      "DisplayName": "SkyPower EFI enable generator control",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL1_GYR1_Y": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
-      "User": "Advanced"
+    "EFI_SP_GEN_FN": {
+      "Description": "SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop",
+      "DisplayName": "SkyPower EFI generator control function",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "300": "300",
+        "301": "301",
+        "302": "302",
+        "303": "303",
+        "304": "304",
+        "305": "305",
+        "306": "306",
+        "307": "307"
+      }
     },
-    "INS_TCAL1_GYR1_Z": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
+    "EFI_SP_LOG_RT": {
+      "Description": "SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed",
+      "DisplayName": "SkyPower EFI log rate",
+      "Range": {
+        "high": "50",
+        "low": "1"
+      },
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "INS_TCAL1_GYR2_X": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
+    "EFI_SP_MIN_RPM": {
+      "Description": "SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped",
+      "DisplayName": "SkyPower EFI minimum RPM",
+      "Range": {
+        "high": "1000",
+        "low": "1"
+      },
       "User": "Advanced"
     },
-    "INS_TCAL1_GYR2_Y": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "EFI_SP_MODEL": {
+      "Description": "SkyPower EFI ECU model",
+      "DisplayName": "SkyPower EFI ECU model",
+      "User": "Standard",
+      "Values": {
+        "0": "Default",
+        "1": "SP_275"
+      }
     },
-    "INS_TCAL1_GYR2_Z": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "EFI_SP_RST_TIME": {
+      "Description": "SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.",
+      "DisplayName": "SkyPower EFI restart time",
+      "Range": {
+        "high": "10",
+        "low": "0"
+      },
+      "Units": "s",
+      "User": "Standard"
     },
-    "INS_TCAL1_GYR3_X": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
-      "User": "Advanced"
+    "EFI_SP_START_FN": {
+      "Description": "SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start",
+      "DisplayName": "SkyPower EFI start function",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "300": "300",
+        "301": "301",
+        "302": "302",
+        "303": "303",
+        "304": "304",
+        "305": "305",
+        "306": "306",
+        "307": "307"
+      }
     },
-    "INS_TCAL1_GYR3_Y": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "EFI_SP_ST_DISARM": {
+      "Description": "SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed",
+      "DisplayName": "SkyPower EFI allow start disarmed",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL1_GYR3_Z": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "EFI_SP_THR_FN": {
+      "Description": "SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control",
+      "DisplayName": "SkyPower EFI throttle function",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "31": "HeliRSC",
+        "70": "FixedWing"
+      }
     },
-    "INS_TCAL1_TMAX": {
-      "Calibration": "1",
-      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
-      "DisplayName": "Temperature calibration max",
+    "EFI_SP_THR_RATE": {
+      "Description": "SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine",
+      "DisplayName": "SkyPower EFI throttle rate",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "100",
+        "low": "10"
       },
-      "Units": "degC",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "INS_TCAL1_TMIN": {
-      "Calibration": "1",
-      "Description": "The minimum temperature that the calibration is valid for",
-      "DisplayName": "Temperature calibration min",
+    "EFI_SP_TLM_RT": {
+      "Description": "SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS",
+      "DisplayName": "SkyPower EFI telemetry rate",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "10",
+        "low": "1"
       },
-      "Units": "degC",
-      "User": "Advanced"
-    }
-  },
-  "INS_TCAL2_": {
-    "INS_TCAL2_ACC1_X": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
-      "User": "Advanced"
-    },
-    "INS_TCAL2_ACC1_Y": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "INS_TCAL2_ACC1_Z": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
+    "EFI_SP_UPDATE_HZ": {
+      "Description": "SkyPower EFI update rate",
+      "DisplayName": "SkyPower EFI update rate",
+      "Range": {
+        "high": "200",
+        "low": "10"
+      },
+      "Units": "Hz",
       "User": "Advanced"
     },
-    "INS_TCAL2_ACC2_X": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
-      "User": "Advanced"
+    "EFI_SVF_ARMCHECK": {
+      "Description": "Check for Generator ARM state before arming",
+      "DisplayName": "Generator SVFFI arming check",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL2_ACC2_Y": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "EFI_SVF_ENABLE": {
+      "Description": "Enable SVFFI generator support",
+      "DisplayName": "Generator SVFFI enable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL2_ACC2_Z": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "ESC_HW_ENABLE": {
+      "Description": "Enable Hobbywing ESC telemetry",
+      "DisplayName": "Hobbywing ESC Enable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL2_ACC3_X": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
-      "User": "Advanced"
+    "ESC_HW_OFS": {
+      "Description": "Motor number offset of first ESC",
+      "DisplayName": "Hobbywing ESC motor offset",
+      "Range": {
+        "high": "31",
+        "low": "0"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL2_ACC3_Y": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "ESC_HW_POLES": {
+      "Description": "Number of motor poles for eRPM scaling",
+      "DisplayName": "Hobbywing ESC motor poles",
+      "Range": {
+        "high": "50",
+        "low": "1"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL2_ACC3_Z": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "POI_DIST_MAX": {
+      "Description": "POI's max distance (in meters) from the vehicle",
+      "DisplayName": "Mount POI distance max",
+      "Range": {
+        "high": "10000",
+        "low": "0"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL2_ENABLE": {
-      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
-      "DisplayName": "Enable temperature calibration",
-      "RebootRequired": "True",
-      "User": "Advanced",
+    "PREV_ENABLE": {
+      "Description": "Enable parameter reversion system",
+      "DisplayName": "parameter reversion enable",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled",
-        "2": "LearnCalibration"
+        "1": "Enabled"
       }
     },
-    "INS_TCAL2_GYR1_X": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
-      "User": "Advanced"
+    "PREV_RC_FUNC": {
+      "Description": "RCn_OPTION number to used to trigger parameter reversion",
+      "DisplayName": "param reversion RC function",
+      "User": "Standard"
     },
-    "INS_TCAL2_GYR1_Y": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
-      "User": "Advanced"
+    "QUIK_AUTO_FILTER": {
+      "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER",
+      "DisplayName": "Quicktune auto filter enable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL2_GYR1_Z": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
-      "User": "Advanced"
+    "QUIK_AUTO_SAVE": {
+      "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune",
+      "DisplayName": "Quicktune auto save",
+      "Units": "s",
+      "User": "Standard"
     },
-    "INS_TCAL2_GYR2_X": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
-      "User": "Advanced"
+    "QUIK_AXES": {
+      "Bitmask": {
+        "0": "Roll",
+        "1": "Pitch",
+        "2": "Yaw"
+      },
+      "Description": "axes to tune",
+      "DisplayName": "Quicktune axes",
+      "User": "Standard"
     },
-    "INS_TCAL2_GYR2_Y": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "QUIK_DOUBLE_TIME": {
+      "Description": "Time to double a tuning parameter. Raise this for a slower tune.",
+      "DisplayName": "Quicktune doubling time",
+      "Range": {
+        "high": "20",
+        "low": "5"
+      },
+      "Units": "s",
+      "User": "Standard"
     },
-    "INS_TCAL2_GYR2_Z": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "QUIK_ENABLE": {
+      "Description": "Enable quicktune system",
+      "DisplayName": "Quicktune enable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL2_GYR3_X": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
-      "User": "Advanced"
+    "QUIK_GAIN_MARGIN": {
+      "Description": "Reduction in gain after oscillation detected. Raise this number to get a more conservative tune",
+      "DisplayName": "Quicktune gain margin",
+      "Range": {
+        "high": "80",
+        "low": "20"
+      },
+      "Units": "%",
+      "User": "Standard"
     },
-    "INS_TCAL2_GYR3_Y": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "QUIK_MAX_REDUCE": {
+      "Description": "This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.",
+      "DisplayName": "Quicktune maximum gain reduction",
+      "Range": {
+        "high": "100",
+        "low": "0"
+      },
+      "Units": "%",
+      "User": "Standard"
     },
-    "INS_TCAL2_GYR3_Z": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "QUIK_OPTIONS": {
+      "Bitmask": {
+        "0": "UseTwoPositionSwitch"
+      },
+      "Description": "Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.",
+      "DisplayName": "Quicktune options",
+      "User": "Standard"
     },
-    "INS_TCAL2_TMAX": {
-      "Calibration": "1",
-      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
-      "DisplayName": "Temperature calibration max",
+    "QUIK_OSC_SMAX": {
+      "Description": "Threshold for oscillation detection. A lower value will lead to a more conservative tune.",
+      "DisplayName": "Quicktune oscillation rate threshold",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "10",
+        "low": "1"
       },
-      "Units": "degC",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_TCAL2_TMIN": {
-      "Calibration": "1",
-      "Description": "The minimum temperature that the calibration is valid for",
-      "DisplayName": "Temperature calibration min",
+    "QUIK_RC_FUNC": {
+      "Description": "RCn_OPTION number to use to control tuning stop/start/save",
+      "DisplayName": "Quicktune RC function",
+      "User": "Standard"
+    },
+    "QUIK_RP_PI_RATIO": {
+      "Description": "Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain",
+      "DisplayName": "Quicktune roll/pitch PI ratio",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "1.0",
+        "low": "0.5"
       },
-      "Units": "degC",
-      "User": "Advanced"
-    }
-  },
-  "INS_TCAL3_": {
-    "INS_TCAL3_ACC1_X": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient X axis",
-      "User": "Advanced"
-    },
-    "INS_TCAL3_ACC1_Y": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Y axis",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_TCAL3_ACC1_Z": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 1st order temperature coefficient Z axis",
-      "User": "Advanced"
+    "QUIK_YAW_D_MAX": {
+      "Description": "Maximum value for yaw D gain",
+      "DisplayName": "Quicktune Yaw D max",
+      "Range": {
+        "high": "1",
+        "low": "0.001"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL3_ACC2_X": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient X axis",
-      "User": "Advanced"
+    "QUIK_YAW_P_MAX": {
+      "Description": "Maximum value for yaw P gain",
+      "DisplayName": "Quicktune Yaw P max",
+      "Range": {
+        "high": "3",
+        "low": "0.1"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL3_ACC2_Y": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "QUIK_Y_PI_RATIO": {
+      "Description": "Ratio between P and I gains for yaw. Raise this to get a lower I gain",
+      "DisplayName": "Quicktune Yaw PI ratio",
+      "Range": {
+        "high": "20",
+        "low": "0.5"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL3_ACC2_Z": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "RCK_DEBUG": {
+      "Description": "Sends Rockblock debug text to GCS via statustexts",
+      "DisplayName": "Display Rockblock debugging text",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL3_ACC3_X": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient X axis",
-      "User": "Advanced"
+    "RCK_ENABLE": {
+      "Description": "Enables the Rockblock sending and recieving",
+      "DisplayName": "Enable Message transmission",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL3_ACC3_Y": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "RCK_FORCEHL": {
+      "Description": "Automatically enables High Latency mode if not already enabled",
+      "DisplayName": "Force enable High Latency mode",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL3_ACC3_Z": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "RCK_PERIOD": {
+      "Description": "When in High Latency mode, send Rockblock updates every N seconds",
+      "DisplayName": "Update rate",
+      "Range": {
+        "high": "600",
+        "low": "0"
+      },
+      "Units": "s",
+      "User": "Standard"
     },
-    "INS_TCAL3_ENABLE": {
-      "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot",
-      "DisplayName": "Enable temperature calibration",
-      "RebootRequired": "True",
-      "User": "Advanced",
+    "RTUN_AUTO_FILTER": {
+      "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER",
+      "DisplayName": "Rover Quicktune auto filter enable",
+      "User": "Standard",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled",
-        "2": "LearnCalibration"
+        "1": "Enabled"
       }
     },
-    "INS_TCAL3_GYR1_X": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient X axis",
-      "User": "Advanced"
-    },
-    "INS_TCAL3_GYR1_Y": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Y axis",
-      "User": "Advanced"
+    "RTUN_AUTO_SAVE": {
+      "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune",
+      "DisplayName": "Rover Quicktune auto save",
+      "Units": "s",
+      "User": "Standard"
     },
-    "INS_TCAL3_GYR1_Z": {
-      "Calibration": "1",
-      "Description": "This is the 1st order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 1st order temperature coefficient Z axis",
-      "User": "Advanced"
+    "RTUN_AXES": {
+      "Bitmask": {
+        "0": "Steering",
+        "1": "Speed"
+      },
+      "Description": "axes to tune",
+      "DisplayName": "Rover Quicktune axes",
+      "User": "Standard"
     },
-    "INS_TCAL3_GYR2_X": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient X axis",
-      "User": "Advanced"
+    "RTUN_ENABLE": {
+      "Description": "Enable quicktune system",
+      "DisplayName": "Rover Quicktune enable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
     },
-    "INS_TCAL3_GYR2_Y": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "RTUN_RC_FUNC": {
+      "Description": "RCn_OPTION number to use to control tuning stop/start/save",
+      "DisplayName": "Rover Quicktune RC function",
+      "User": "Standard",
+      "Values": {
+        "300": "Scripting1",
+        "301": "Scripting2",
+        "302": "Scripting3",
+        "303": "Scripting4",
+        "304": "Scripting5",
+        "305": "Scripting6",
+        "306": "Scripting7",
+        "307": "Scripting8"
+      }
     },
-    "INS_TCAL3_GYR2_Z": {
-      "Calibration": "1",
-      "Description": "This is the 2nd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "RTUN_SPD_FFRATIO": {
+      "Description": "Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value",
+      "DisplayName": "Rover Quicktune Speed FeedForward (equivalent) ratio",
+      "Range": {
+        "high": "1.0",
+        "low": "0"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL3_GYR3_X": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient X axis",
-      "User": "Advanced"
+    "RTUN_SPD_I_RATIO": {
+      "Description": "Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged",
+      "DisplayName": "Rover Quicktune Speed FF to I ratio",
+      "Range": {
+        "high": "2.0",
+        "low": "0"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL3_GYR3_Y": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis",
-      "User": "Advanced"
+    "RTUN_SPD_P_RATIO": {
+      "Description": "Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged",
+      "DisplayName": "Rover Quicktune Speed FF to P ratio",
+      "Range": {
+        "high": "2.0",
+        "low": "0"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL3_GYR3_Z": {
-      "Calibration": "1",
-      "Description": "This is the 3rd order temperature coefficient from a temperature calibration",
-      "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis",
-      "User": "Advanced"
+    "RTUN_STR_FFRATIO": {
+      "Description": "Ratio between measured response and FF gain. Raise this to get a higher FF gain",
+      "DisplayName": "Rover Quicktune Steering Rate FeedForward ratio",
+      "Range": {
+        "high": "1.0",
+        "low": "0"
+      },
+      "User": "Standard"
     },
-    "INS_TCAL3_TMAX": {
-      "Calibration": "1",
-      "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration",
-      "DisplayName": "Temperature calibration max",
+    "RTUN_STR_I_RATIO": {
+      "Description": "Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged",
+      "DisplayName": "Rover Quicktune Steering FF to I ratio",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "2.0",
+        "low": "0"
       },
-      "Units": "degC",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "INS_TCAL3_TMIN": {
-      "Calibration": "1",
-      "Description": "The minimum temperature that the calibration is valid for",
-      "DisplayName": "Temperature calibration min",
+    "RTUN_STR_P_RATIO": {
+      "Description": "Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged",
+      "DisplayName": "Rover Quicktune Steering FF to P ratio",
       "Range": {
-        "high": "80",
-        "low": "-70"
+        "high": "2.0",
+        "low": "0"
       },
-      "Units": "degC",
-      "User": "Advanced"
-    }
-  },
-  "KDE_": {
-    "KDE_NPOLE": {
-      "Description": "Sets the number of motor poles to calculate the correct RPM value",
-      "DisplayName": "Number of motor poles"
-    }
-  },
-  "LEAK": {
-    "LEAK1_LOGIC": {
-      "Description": "Default reading of leak detector when dry",
-      "DisplayName": "Default reading of leak detector when dry",
+      "User": "Standard"
+    },
+    "SHIP_AUTO_OFS": {
+      "Description": "Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.",
+      "DisplayName": "Ship automatic offset trigger",
       "User": "Standard",
       "Values": {
-        "0": "Low",
-        "1": "High"
+        "0": "Disabled",
+        "1": "Trigger"
       }
     },
-    "LEAK1_PIN": {
-      "Description": "Pin that the leak detector is connected to",
-      "DisplayName": "Pin that leak detector is connected to",
-      "RebootRequired": "True",
+    "SHIP_ENABLE": {
+      "Description": "Enable ship landing system",
+      "DisplayName": "Ship landing enable",
       "User": "Standard",
       "Values": {
-        "-1": "Disabled",
-        "13": "Pixhawk 3.3ADC1",
-        "14": "Pixhawk 3.3ADC2",
-        "15": "Pixhawk 6.6ADC",
-        "27": "Navigator Built-In",
-        "50": "AUX1",
-        "51": "AUX2",
-        "52": "AUX3",
-        "53": "AUX4",
-        "54": "AUX5",
-        "55": "AUX6"
+        "0": "Disabled",
+        "1": "Enabled"
       }
     },
-    "LEAK1_TYPE": {
-      "Description": "Enables leak detector 1. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK1_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.",
-      "DisplayName": "Leak detector pin type (analog/digital)",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "-1": "Disabled",
-        "0": "Analog",
-        "1": "Digital"
-      }
+    "SHIP_LAND_ANGLE": {
+      "Description": "Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.",
+      "DisplayName": "Ship landing angle",
+      "Range": {
+        "high": "180",
+        "low": "-180"
+      },
+      "Units": "deg",
+      "User": "Standard"
     },
-    "LEAK2_LOGIC": {
-      "Description": "Default reading of leak detector when dry",
-      "DisplayName": "Default reading of leak detector when dry",
-      "User": "Standard",
-      "Values": {
-        "0": "Low",
-        "1": "High"
-      }
+    "TOFSENSE_ID1": {
+      "Description": "First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software",
+      "DisplayName": "TOFSENSE-M First ID",
+      "Range": {
+        "high": "255",
+        "low": "1"
+      },
+      "User": "Standard"
     },
-    "LEAK2_PIN": {
-      "Description": "Pin that the leak detector is connected to",
-      "DisplayName": "Pin that leak detector is connected to",
-      "RebootRequired": "True",
-      "User": "Standard",
-      "Values": {
-        "-1": "Disabled",
-        "13": "Pixhawk 3.3ADC1",
-        "14": "Pixhawk 3.3ADC2",
-        "15": "Pixhawk 6.6ADC",
-        "27": "Navigator Leak1",
-        "50": "AUX1",
-        "51": "AUX2",
-        "52": "AUX3",
-        "53": "AUX4",
-        "54": "AUX5",
-        "55": "AUX6"
-      }
+    "TOFSENSE_ID2": {
+      "Description": "Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software",
+      "DisplayName": "TOFSENSE-M Second ID",
+      "Range": {
+        "high": "255",
+        "low": "1"
+      },
+      "User": "Standard"
     },
-    "LEAK2_TYPE": {
-      "Description": "Enables leak detector 2. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK2_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.",
-      "DisplayName": "Leak detector pin type (analog/digital)",
-      "RebootRequired": "True",
-      "User": "Advanced",
-      "Values": {
-        "-1": "Disabled",
-        "0": "Analog",
-        "1": "Digital"
-      }
+    "TOFSENSE_ID3": {
+      "Description": "Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software",
+      "DisplayName": "TOFSENSE-M Thir ID",
+      "Range": {
+        "high": "255",
+        "low": "1"
+      },
+      "User": "Standard"
     },
-    "LEAK3_LOGIC": {
-      "Description": "Default reading of leak detector when dry",
-      "DisplayName": "Default reading of leak detector when dry",
+    "TOFSENSE_INST1": {
+      "Description": "First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)",
+      "DisplayName": "TOFSENSE-M First Instance",
+      "Range": {
+        "high": "3",
+        "low": "1"
+      },
+      "User": "Standard"
+    },
+    "TOFSENSE_INST2": {
+      "Description": "Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)",
+      "DisplayName": "TOFSENSE-M Second Instance",
+      "Range": {
+        "high": "3",
+        "low": "1"
+      },
+      "User": "Standard"
+    },
+    "TOFSENSE_INST3": {
+      "Description": "Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)",
+      "DisplayName": "TOFSENSE-M Third Instance",
+      "Range": {
+        "high": "3",
+        "low": "1"
+      },
+      "User": "Standard"
+    },
+    "TOFSENSE_MODE": {
+      "Description": "TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode",
+      "DisplayName": "TOFSENSE-M mode to be used",
       "User": "Standard",
       "Values": {
-        "0": "Low",
-        "1": "High"
+        "0": "8x8 mode",
+        "1": "4x4 mode"
       }
     },
-    "LEAK3_PIN": {
-      "Description": "Pin that the leak detector is connected to",
-      "DisplayName": "Pin that leak detector is connected to",
-      "RebootRequired": "True",
+    "TOFSENSE_NO": {
+      "Description": "Number of TOFSENSE-M CAN sensors connected",
+      "DisplayName": "TOFSENSE-M Connected",
+      "Range": {
+        "high": "3",
+        "low": "1"
+      },
+      "User": "Standard"
+    },
+    "TOFSENSE_PRX": {
+      "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)",
+      "DisplayName": "TOFSENSE-M to be used as Proximity sensor",
       "User": "Standard",
       "Values": {
-        "-1": "Disabled",
-        "13": "Pixhawk 3.3ADC1",
-        "14": "Pixhawk 3.3ADC2",
-        "15": "Pixhawk 6.6ADC",
-        "27": "Navigator Leak1",
-        "50": "AUX1",
-        "51": "AUX2",
-        "52": "AUX3",
-        "53": "AUX4",
-        "54": "AUX5",
-        "55": "AUX6"
+        "0": "Set as Rangefinder",
+        "1": "Set as Proximity sensor"
       }
     },
-    "LEAK3_TYPE": {
-      "Description": "Enables leak detector 3. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK3_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.",
-      "DisplayName": "Leak detector pin type (analog/digital)",
-      "RebootRequired": "True",
-      "User": "Advanced",
+    "TOFSENSE_S1_BR": {
+      "Description": "Serial Port baud rate. Sensor baud rate can be changed from Nassistant software",
+      "DisplayName": "TOFSENSE-M serial port baudrate",
+      "User": "Standard"
+    },
+    "TOFSENSE_S1_PRX": {
+      "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)",
+      "DisplayName": "TOFSENSE-M to be used as Proximity sensor",
+      "User": "Standard",
       "Values": {
-        "-1": "Disabled",
-        "0": "Analog",
-        "1": "Digital"
+        "0": "Set as Rangefinder",
+        "1": "Set as Proximity sensor"
       }
-    }
-  },
-  "LOG": {
-    "LOG_BACKEND_TYPE": {
-      "Bitmask": {
-        "0": "File",
-        "1": "MAVLink",
-        "2": "Block"
-      },
-      "Description": "Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.",
-      "DisplayName": "AP_Logger Backend Storage type",
-      "User": "Standard"
     },
-    "LOG_BLK_RATEMAX": {
-      "Description": "This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.",
-      "DisplayName": "Maximum logging rate for block backend",
-      "Increment": "0.1",
+    "TOFSENSE_S1_SP": {
+      "Description": "UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. ",
+      "DisplayName": "TOFSENSE-M serial port config",
       "Range": {
-        "high": "1000",
-        "low": "0"
+        "high": "4",
+        "low": "1"
       },
-      "Units": "Hz",
       "User": "Standard"
     },
-    "LOG_DARM_RATEMAX": {
-      "Description": "This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.",
-      "DisplayName": "Maximum logging rate when disarmed",
-      "Increment": "0.1",
+    "TRIK_ACT_FN": {
+      "Description": "Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)",
+      "DisplayName": "Trik Action Scripting Function",
       "Range": {
-        "high": "1000",
-        "low": "0"
-      },
-      "Units": "Hz",
-      "User": "Standard"
+        "high": "307",
+        "low": "301"
+      }
     },
-    "LOG_DISARMED": {
-      "Description": "If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.",
-      "DisplayName": "Enable logging while disarmed",
+    "TRIK_COUNT": {
+      "Description": "Number of tricks which can be selected over the range of the trik selection RC channel",
+      "DisplayName": "Trik Count",
+      "Range": {
+        "high": "11",
+        "low": "1"
+      }
+    },
+    "TRIK_ENABLE": {
+      "Description": "Enables Tricks on Switch. TRIK params hidden until enabled",
+      "DisplayName": "Tricks on Switch Enable"
+    },
+    "TRIK_SEL_FN": {
+      "Description": "Setting an RC channel's _OPTION to this value will use it for trick selection",
+      "DisplayName": "Trik Selection Scripting Function",
+      "Range": {
+        "high": "307",
+        "low": "301"
+      }
+    },
+    "VIEP_CAM_SWHIGH": {
+      "Description": "Camera selection when switch is in high position",
+      "DisplayName": "ViewPro Camera For Switch High",
       "User": "Standard",
       "Values": {
-        "0": "Disabled",
-        "1": "Enabled",
-        "2": "Disabled on USB connection",
-        "3": "Discard log on reboot if never armed"
+        "0": "No change in camera selection",
+        "1": "EO1",
+        "2": "IR thermal",
+        "3": "EO1 + IR Picture-in-picture",
+        "4": "IR + EO1 Picture-in-picture",
+        "5": "Fusion",
+        "6": "IR1 13mm",
+        "7": "IR2 52mm"
       }
     },
-    "LOG_FILE_BUFSIZE": {
-      "Description": "The File and Block backends use a buffer to store data before writing to the block device.  Raising this value may reduce \"gaps\" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.",
-      "DisplayName": "Maximum AP_Logger File and Block Backend buffer size (in kilobytes)",
-      "User": "Standard"
+    "VIEP_CAM_SWLOW": {
+      "Description": "Camera selection when switch is in low position",
+      "DisplayName": "ViewPro Camera For Switch Low",
+      "User": "Standard",
+      "Values": {
+        "0": "No change in camera selection",
+        "1": "EO1",
+        "2": "IR thermal",
+        "3": "EO1 + IR Picture-in-picture",
+        "4": "IR + EO1 Picture-in-picture",
+        "5": "Fusion",
+        "6": "IR1 13mm",
+        "7": "IR2 52mm"
+      }
     },
-    "LOG_FILE_DSRMROT": {
-      "Description": "When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.",
-      "DisplayName": "Stop logging to current file on disarm",
+    "VIEP_CAM_SWMID": {
+      "Description": "Camera selection when switch is in middle position",
+      "DisplayName": "ViewPro Camera For Switch Mid",
       "User": "Standard",
+      "Values": {
+        "0": "No change in camera selection",
+        "1": "EO1",
+        "2": "IR thermal",
+        "3": "EO1 + IR Picture-in-picture",
+        "4": "IR + EO1 Picture-in-picture",
+        "5": "Fusion",
+        "6": "IR1 13mm",
+        "7": "IR2 52mm"
+      }
+    },
+    "VIEP_DEBUG": {
+      "Description": "ViewPro debug",
+      "DisplayName": "ViewPro debug",
+      "User": "Advanced",
       "Values": {
         "0": "Disabled",
-        "1": "Enabled"
+        "1": "Enabled",
+        "2": "Enabled including attitude reporting"
       }
     },
-    "LOG_FILE_MB_FREE": {
-      "Description": "Set this such that the free space is larger than your largest typical flight log",
-      "DisplayName": "Old logs on the SD card will be deleted to maintain this amount of free space",
+    "VIEP_ZOOM_MAX": {
+      "Description": "ViewPro Zoom Times Max",
+      "DisplayName": "ViewPro Zoom Times Max",
       "Range": {
-        "high": "1000",
-        "low": "10"
+        "high": "30",
+        "low": "0"
       },
-      "Units": "MB",
       "User": "Standard"
     },
-    "LOG_FILE_RATEMAX": {
-      "Description": "This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.",
-      "DisplayName": "Maximum logging rate for file backend",
-      "Increment": "0.1",
+    "VIEP_ZOOM_SPEED": {
+      "Description": "ViewPro Zoom Speed.  Higher numbers result in faster zooming",
+      "DisplayName": "ViewPro Zoom Speed",
       "Range": {
-        "high": "1000",
+        "high": "7",
         "low": "0"
       },
-      "Units": "Hz",
-      "User": "Standard"
-    },
-    "LOG_FILE_TIMEOUT": {
-      "Description": "This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.",
-      "DisplayName": "Timeout before giving up on file writes",
-      "Units": "s",
       "User": "Standard"
     },
-    "LOG_MAV_BUFSIZE": {
-      "Description": "Maximum amount of memory to allocate to AP_Logger-over-mavlink",
-      "DisplayName": "Maximum AP_Logger MAVLink Backend buffer size",
-      "Units": "kB",
-      "User": "Advanced"
-    },
-    "LOG_MAV_RATEMAX": {
-      "Description": "This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.",
-      "DisplayName": "Maximum logging rate for mavlink backend",
-      "Increment": "0.1",
+    "WEB_BIND_PORT": {
+      "Description": "web server TCP port",
+      "DisplayName": "web server TCP port",
       "Range": {
-        "high": "1000",
-        "low": "0"
+        "high": "65535",
+        "low": "1"
       },
-      "Units": "Hz",
       "User": "Standard"
     },
-    "LOG_MAX_FILES": {
-      "Description": "This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.",
-      "DisplayName": "Maximum number of log files",
-      "Increment": "1",
+    "WEB_BLOCK_SIZE": {
+      "Description": "web server block size for download",
+      "DisplayName": "web server block size",
       "Range": {
-        "high": "500",
-        "low": "2"
+        "high": "65535",
+        "low": "1"
       },
-      "RebootRequired": "True",
       "User": "Advanced"
     },
-    "LOG_REPLAY": {
-      "Description": "If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.",
-      "DisplayName": "Enable logging of information needed for Replay",
+    "WEB_DEBUG": {
+      "Description": "web server debugging",
+      "DisplayName": "web server debugging",
+      "User": "Advanced",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
+    },
+    "WEB_ENABLE": {
+      "Description": "enable web server",
+      "DisplayName": "enable web server",
       "User": "Standard",
       "Values": {
         "0": "Disabled",
         "1": "Enabled"
       }
-    }
-  },
-  "LOIT_": {
-    "LOIT_ACC_MAX": {
-      "Description": "Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively.",
-      "DisplayName": "Loiter maximum correction acceleration",
-      "Increment": "1",
-      "Range": {
-        "high": "981",
-        "low": "100"
-      },
-      "Units": "cm/s/s",
-      "User": "Advanced"
     },
-    "LOIT_ANG_MAX": {
-      "Description": "Loiter maximum pilot requested lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX/ANGLE_MAX. The maximum vehicle lean angle is still limited by PSC_ANGLE_MAX/ANGLE_MAX",
-      "DisplayName": "Loiter pilot angle max",
-      "Increment": "1",
+    "WEB_SENDFILE_MIN": {
+      "Description": "sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download",
+      "DisplayName": "web server minimum file size for sendfile",
       "Range": {
-        "high": "45",
+        "high": "10000000",
         "low": "0"
       },
-      "Units": "deg",
-      "User": "Advanced"
-    },
-    "LOIT_BRK_ACCEL": {
-      "Description": "Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.",
-      "DisplayName": "Loiter braking acceleration",
-      "Increment": "1",
-      "Range": {
-        "high": "250",
-        "low": "25"
-      },
-      "Units": "cm/s/s",
       "User": "Advanced"
     },
-    "LOIT_BRK_DELAY": {
-      "Description": "Loiter brake start delay (in seconds)",
-      "DisplayName": "Loiter brake start delay (in seconds)",
-      "Increment": "0.1",
+    "WEB_TIMEOUT": {
+      "Description": "timeout for inactive connections",
+      "DisplayName": "web server timeout",
       "Range": {
-        "high": "2",
-        "low": "0"
+        "high": "60",
+        "low": "0.1"
       },
       "Units": "s",
       "User": "Advanced"
     },
-    "LOIT_BRK_JERK": {
-      "Description": "Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.",
-      "DisplayName": "Loiter braking jerk",
-      "Increment": "1",
+    "WINCH_RATE_DN": {
+      "Description": "Maximum rate when releasing line",
+      "DisplayName": "WinchControl Rate Down",
       "Range": {
-        "high": "5000",
-        "low": "500"
+        "high": "5.0",
+        "low": "0.1"
       },
-      "Units": "cm/s/s/s",
-      "User": "Advanced"
+      "User": "Standard"
     },
-    "LOIT_SPEED": {
-      "Description": "Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode",
-      "DisplayName": "Loiter Horizontal Maximum Speed",
-      "Increment": "50",
+    "WINCH_RATE_UP": {
+      "Description": "Maximum rate when retracting line",
+      "DisplayName": "WinchControl Rate Up",
       "Range": {
-        "high": "3500",
-        "low": "20"
+        "high": "5.0",
+        "low": "0.1"
       },
-      "Units": "cm/s",
       "User": "Standard"
+    },
+    "WINCH_RC_FUNC": {
+      "Description": "RCn_OPTION number to use to control winch rate",
+      "DisplayName": "Winch Rate Control RC function",
+      "User": "Standard",
+      "Values": {
+        "300": "Scripting1",
+        "301": "Scripting2",
+        "302": "Scripting3",
+        "303": "Scripting4",
+        "304": "Scripting5",
+        "305": "Scripting6",
+        "306": "Scripting7",
+        "307": "Scripting8"
+      }
     }
   },
   "MIS_": {
diff --git a/scripts/json_from_xml.py b/scripts/json_from_xml.py
old mode 100644
new mode 100755
index 1cf2218..4ad394f
--- a/scripts/json_from_xml.py
+++ b/scripts/json_from_xml.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 # import git
 import glob
 import os
diff --git a/scripts/run_param_parse.py b/scripts/run_param_parse.py
old mode 100644
new mode 100755
index 18e82dd..7c48203
--- a/scripts/run_param_parse.py
+++ b/scripts/run_param_parse.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import git
 import glob
 import os
@@ -79,13 +81,20 @@ def run(self):
         for tag in tags:
             tag_name = tag['tag']
             tag_simple_name = tag['matches']['name']
+            tag_major_version, tag_minor_version = int(tag['matches']['major']), int(tag['matches']['minor'])
             vehicle_type = self.valid_name_map.get(tag_simple_name)
             tag_reference = tag['reference']
+            folder_name = f'{vehicle_type}-{tag_major_version}.{tag_minor_version}'
 
             if not vehicle_type:
                 continue
 
-            print(f'Going to: {tag_name}')
+            print(f'Processing: {folder_name}..')
+            # Old versions are not mantained and generation of the files is not fully supported
+            if tag_major_version < 4:
+                print("Ignoring old version")
+                continue
+
             repository.git.checkout(tag_reference)
             try:
                 subprocess.run([f'{self.repository_path}/Tools/autotest/param_metadata/param_parse.py', '--vehicle', vehicle_type], cwd=self.repository_path)
@@ -94,8 +103,10 @@ def run(self):
 
             output = f'/tmp/output'
             subprocess.run(['mkdir', '-p', output])
-            dest = f"{output}/{tag_simple_name}-{tag['matches']['major']}.{tag['matches']['minor']}"
+            dest = f"{output}/{folder_name}"
             subprocess.run(['mkdir', '-p', dest])
+            for data in glob.glob(f'{dest}/*'):
+                    os.remove(data)
             for data in glob.glob(f'{self.repository_path}/Parameter*'):
                 shutil.move(data, dest)
             for data in glob.glob(f'{self.repository_path}/apm.pdef.*'):