forked from ArduPilot/ardupilot
/
Parameters.cpp
1552 lines (1329 loc) · 81 KB
/
Parameters.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
#include "Plane.h"
#include <AP_Gripper/AP_Gripper.h>
/*
* ArduPlane parameter definitions
*
*/
const AP_Param::Info Plane::var_info[] = {
// @Param: FORMAT_VERSION
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
GSCALAR(format_version, "FORMAT_VERSION", 0),
// @Param: SYSID_THISMAV
// @DisplayName: MAVLink system ID of this vehicle
// @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
// @Range: 1 255
// @User: Advanced
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
// @Param: SYSID_MYGCS
// @DisplayName: Ground station MAVLink system ID
// @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
// @Range: 1 255
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// AP_SerialManager was here
// @Param: AUTOTUNE_LEVEL
// @DisplayName: Autotune level
// @Description: Level of aggressiveness of pitch and roll PID gains. Lower values result in a 'softer' tune. Level 6 recommended for most planes. A value of 0 means to keep the current values of RMAX and TCONST for the controllers, tuning only the PID values
// @Range: 0 10
// @Increment: 1
// @User: Standard
ASCALAR(autotune_level, "AUTOTUNE_LEVEL", 6),
// @Param: AUTOTUNE_OPTIONS
// @DisplayName: Autotune options bitmask
// @Description: Fixed Wing Autotune specific options. Useful on QuadPlanes with higher INS_GYRO_FILTER settings to prevent these filter values from being set too agressively during Fixed Wing Autotune.
// @Bitmask: 0: Disable FLTD update by Autotune
// @Bitmask: 1: Disable FLTT update by Autotune
// @User: Advanced
ASCALAR(autotune_options, "AUTOTUNE_OPTIONS", 0),
// @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay
// @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
// @User: Standard
// @Units: s
// @Range: 0 30
// @Increment: 1
GSCALAR(telem_delay, "TELEM_DELAY", 0),
// @Param: GCS_PID_MASK
// @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced
// @Bitmask: 0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
// @Param: KFF_RDDRMIX
// @DisplayName: Rudder Mix
// @Description: Amount of rudder to add during aileron movement. Increase if nose initially yaws away from roll. Reduces adverse yaw.
// @Range: 0 1
// @Increment: 0.01
// @User: Standard
GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX),
// @Param: KFF_THR2PTCH
// @DisplayName: Throttle to Pitch Mix
// @Description: Pitch up to add in proportion to throttle. 100% throttle will add this number of degrees to the pitch target.
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", 0),
// @Param: STAB_PITCH_DOWN
// @DisplayName: Low throttle pitch down trim
// @Description: Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls. 2 degrees recommended for most planes.
// @Range: 0 15
// @Increment: 0.1
// @Units: deg
// @User: Advanced
GSCALAR(stab_pitch_down, "STAB_PITCH_DOWN", 2.0f),
// @Param: GLIDE_SLOPE_MIN
// @DisplayName: Glide slope minimum
// @Description: This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude.
// @Range: 0 1000
// @Increment: 1
// @Units: m
// @User: Advanced
GSCALAR(glide_slope_min, "GLIDE_SLOPE_MIN", 15),
// @Param: GLIDE_SLOPE_THR
// @DisplayName: Glide slope threshold
// @Description: This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff
// @Range: 0 100
// @Increment: 1
// @Units: m
// @User: Advanced
GSCALAR(glide_slope_threshold, "GLIDE_SLOPE_THR", 5.0),
// @Param: STICK_MIXING
// @DisplayName: Stick Mixing
// @Description: When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 3 then it will apply to the yaw while in quadplane modes only, such as while doing an automatic VTOL takeoff or landing.
// @Values: 0:Disabled,1:FBWMixing,3:VTOL Yaw only
// @User: Advanced
GSCALAR(stick_mixing, "STICK_MIXING", uint8_t(StickMixing::FBW)),
// @Param: TKOFF_THR_MINSPD
// @DisplayName: Takeoff throttle min speed
// @Description: Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.
// @Units: m/s
// @Range: 0 30
// @Increment: 0.1
// @User: Standard
GSCALAR(takeoff_throttle_min_speed, "TKOFF_THR_MINSPD", 0),
// @Param: TKOFF_THR_MINACC
// @DisplayName: Takeoff throttle min acceleration
// @Description: Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15. Also see TKOFF_ACCEL_CNT paramter for control of full "shake to arm".
// @Units: m/s/s
// @Range: 0 30
// @Increment: 0.1
// @User: Standard
GSCALAR(takeoff_throttle_min_accel, "TKOFF_THR_MINACC", 0),
// @Param: TKOFF_THR_DELAY
// @DisplayName: Takeoff throttle delay
// @Description: This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started.
// @Units: ds
// @Range: 0 127
// @Increment: 1
// @User: Standard
GSCALAR(takeoff_throttle_delay, "TKOFF_THR_DELAY", 2),
// @Param: TKOFF_THR_MAX_T
// @DisplayName: Takeoff throttle maximum time
// @Description: This sets the time that maximum throttle will be forced during a fixed wing takeoff without an airspeed sensor. If an airspeed sensor is being used then the throttle is set to maximum until the takeoff airspeed is reached.
// @Units: s
// @Range: 0 10
// @Increment: 0.5
// @User: Standard
ASCALAR(takeoff_throttle_max_t, "TKOFF_THR_MAX_T", 4),
// @Param: TKOFF_TDRAG_ELEV
// @DisplayName: Takeoff tail dragger elevator
// @Description: This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.
// @Units: %
// @Range: -100 100
// @Increment: 1
// @User: Standard
GSCALAR(takeoff_tdrag_elevator, "TKOFF_TDRAG_ELEV", 0),
// @Param: TKOFF_TDRAG_SPD1
// @DisplayName: Takeoff tail dragger speed1
// @Description: This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.
// @Units: m/s
// @Range: 0 30
// @Increment: 0.1
// @User: Standard
GSCALAR(takeoff_tdrag_speed1, "TKOFF_TDRAG_SPD1", 0),
// @Param: TKOFF_ROTATE_SPD
// @DisplayName: Takeoff rotate speed
// @Description: This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent. During the run, use TKOFF_GND_PITCH to keep the aircraft on the runway while below this airspeed.
// @Units: m/s
// @Range: 0 30
// @Increment: 0.1
// @User: Standard
GSCALAR(takeoff_rotate_speed, "TKOFF_ROTATE_SPD", 0),
// @Param: TKOFF_THR_SLEW
// @DisplayName: Takeoff throttle slew rate
// @Description: This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff.
// @Units: %/s
// @Range: -1 127
// @Increment: 1
// @User: Standard
GSCALAR(takeoff_throttle_slewrate, "TKOFF_THR_SLEW", 0),
// @Param: TKOFF_PLIM_SEC
// @DisplayName: Takeoff pitch limit reduction
// @Description: This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be.
// @Units: s
// @Range: 0 10
// @Increment: 0.5
// @User: Advanced
GSCALAR(takeoff_pitch_limit_reduction_sec, "TKOFF_PLIM_SEC", 2),
// @Param: TKOFF_FLAP_PCNT
// @DisplayName: Takeoff flap percentage
// @Description: The amount of flaps (as a percentage) to apply in automatic takeoff
// @Range: 0 100
// @Units: %
// @Increment: 1
// @User: Advanced
GSCALAR(takeoff_flap_percent, "TKOFF_FLAP_PCNT", 0),
// @Param: LEVEL_ROLL_LIMIT
// @DisplayName: Level flight roll limit
// @Description: This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff while below 5 meters and during the flare portion of a final landing approach.
// @Units: deg
// @Range: 0 45
// @Increment: 1
// @User: Standard
GSCALAR(level_roll_limit, "LEVEL_ROLL_LIMIT", 5),
// @Param: USE_REV_THRUST
// @DisplayName: Bitmask for when to allow negative reverse thrust
// @Description: This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages. Reverse thrust is always used in MANUAL mode if enabled with THR_MIN < 0. In non-autothrottle controlled modes, if reverse thrust is not used, then THR_MIN is effectively set to 0 for that mode.
// @Values: 0:MANUAL ONLY,1:AutoAlways,2:AutoLanding
// @Bitmask: 0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED,11:AUTO_LANDING_PATTERN,12:FBWA,13:ACRO,14:STABILIZE,15:THERMAL
// @User: Advanced
GSCALAR(use_reverse_thrust, "USE_REV_THRUST", USE_REVERSE_THRUST_AUTO_LAND_APPROACH),
// @Param: ALT_OFFSET
// @DisplayName: Altitude offset
// @Description: This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission
// @Units: m
// @Range: -32767 32767
// @Increment: 1
// @User: Advanced
GSCALAR(alt_offset, "ALT_OFFSET", 0),
// @Param: WP_RADIUS
// @DisplayName: Waypoint Radius
// @Description: Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.
// @Units: m
// @Range: 1 32767
// @Increment: 1
// @User: Standard
GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT),
// @Param: WP_MAX_RADIUS
// @DisplayName: Waypoint Maximum Radius
// @Description: Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.
// @Units: m
// @Range: 0 32767
// @Increment: 1
// @User: Standard
GSCALAR(waypoint_max_radius, "WP_MAX_RADIUS", 0),
// @Param: WP_LOITER_RAD
// @DisplayName: Waypoint Loiter Radius
// @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.
// @Units: m
// @Range: -32767 32767
// @Increment: 1
// @User: Standard
ASCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT),
// @Param: RTL_RADIUS
// @DisplayName: RTL loiter radius
// @Description: Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used.
// @Units: m
// @Range: -32767 32767
// @Increment: 1
// @User: Standard
GSCALAR(rtl_radius, "RTL_RADIUS", 0),
// @Param: STALL_PREVENTION
// @DisplayName: Enable stall prevention
// @Description: Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
ASCALAR(stall_prevention, "STALL_PREVENTION", 1),
// @Param: AIRSPEED_CRUISE
// @DisplayName: Target cruise airspeed
// @Description: Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
// @Units: m/s
// @User: Standard
ASCALAR(airspeed_cruise, "AIRSPEED_CRUISE", AIRSPEED_CRUISE),
// @Param: AIRSPEED_MIN
// @DisplayName: Minimum Airspeed
// @Description: Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed.
// @Units: m/s
// @Range: 5 100
// @Increment: 1
// @User: Standard
ASCALAR(airspeed_min, "AIRSPEED_MIN", AIRSPEED_FBW_MIN),
// @Param: AIRSPEED_MAX
// @DisplayName: Maximum Airspeed
// @Description: Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above AIRSPEED_MIN to allow for accurate TECS altitude control.
// @Units: m/s
// @Range: 5 100
// @Increment: 1
// @User: Standard
ASCALAR(airspeed_max, "AIRSPEED_MAX", AIRSPEED_FBW_MAX),
// @Param: FBWB_ELEV_REV
// @DisplayName: Fly By Wire elevator reverse
// @Description: Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(flybywire_elev_reverse, "FBWB_ELEV_REV", 0),
#if AP_TERRAIN_AVAILABLE
// @Param: TERRAIN_FOLLOW
// @DisplayName: Use terrain following
// @Description: This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.
// @Values: 0:Disabled,1:Enabled
// @Bitmask: 0: Enable all modes, 1:FBWB, 2:Cruise, 3:Auto, 4:RTL, 5:Avoid_ADSB, 6:Guided, 7:Loiter, 8:Circle, 9:QRTL, 10:QLand, 11:Qloiter
// @User: Standard
GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),
// @Param: TERRAIN_LOOKAHD
// @DisplayName: Terrain lookahead
// @Description: This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.
// @Range: 0 10000
// @Units: m
// @User: Standard
GSCALAR(terrain_lookahead, "TERRAIN_LOOKAHD", 2000),
#endif
// @Param: FBWB_CLIMB_RATE
// @DisplayName: Fly By Wire B altitude change rate
// @Description: This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.
// @Range: 1 10
// @Units: m/s
// @Increment: 0.1
// @User: Standard
GSCALAR(flybywire_climb_rate, "FBWB_CLIMB_RATE", 2.0f),
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
// @Description: Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it.
// @Units: %
// @Range: -100 100
// @Increment: 1
// @User: Standard
ASCALAR(throttle_min, "THR_MIN", THROTTLE_MIN),
// @Param: THR_MAX
// @DisplayName: Maximum Throttle
// @Description: Maximum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set.
// @Units: %
// @Range: 0 100
// @Increment: 1
// @User: Standard
ASCALAR(throttle_max, "THR_MAX", THROTTLE_MAX),
// @Param: TKOFF_THR_MAX
// @DisplayName: Maximum Throttle for takeoff
// @Description: The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.
// @Units: %
// @Range: 0 100
// @Increment: 1
// @User: Advanced
ASCALAR(takeoff_throttle_max, "TKOFF_THR_MAX", 0),
// @Param: THR_SLEWRATE
// @DisplayName: Throttle slew rate
// @Description: Maximum change in throttle percentage per second. Lower limit based on 1 microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10 to determine minimum achievable value.
// @Units: %/s
// @Range: 0 127
// @Increment: 1
// @User: Standard
ASCALAR(throttle_slewrate, "THR_SLEWRATE", 100),
// @Param: FLAP_SLEWRATE
// @DisplayName: Flap slew rate
// @Description: maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.
// @Units: %/s
// @Range: 0 100
// @Increment: 1
// @User: Advanced
GSCALAR(flap_slewrate, "FLAP_SLEWRATE", 75),
// @Param: THR_SUPP_MAN
// @DisplayName: Throttle suppress manual passthru
// @Description: When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(throttle_suppress_manual,"THR_SUPP_MAN", 0),
// @Param: THR_PASS_STAB
// @DisplayName: Throttle passthru in stabilize
// @Description: If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(throttle_passthru_stabilize,"THR_PASS_STAB", 0),
// @Param: THR_FAILSAFE
// @DisplayName: Throttle and RC Failsafe Enable
// @Description: 0 disables the failsafe. 1 enables failsafe on loss of RC input. This is detected either by throttle values below THR_FS_VALUE, loss of receiver valid pulses/data, or by the FS bit in receivers that provide it, like SBUS. A programmable failsafe action will occur and RC inputs, if present, will be ignored. A value of 2 means that the RC inputs won't be used when RC failsafe is detected by any of the above methods, but it won't trigger an RC failsafe action.
// @Values: 0:Disabled,1:Enabled,2:EnabledNoFailsafe
// @User: Standard
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", int(ThrFailsafe::Enabled)),
// @Param: THR_FS_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel.
// @Range: 925 2200
// @Increment: 1
// @User: Standard
GSCALAR(throttle_fs_value, "THR_FS_VALUE", 950),
// @Param: TRIM_THROTTLE
// @DisplayName: Throttle cruise percentage
// @Description: Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.
// @Units: %
// @Range: 0 100
// @Increment: 1
// @User: Standard
ASCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
// @Param: THROTTLE_NUDGE
// @DisplayName: Throttle nudge enable
// @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of AIRSPEED_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(throttle_nudge, "THROTTLE_NUDGE", 1),
// @Param: FS_SHORT_ACTN
// @DisplayName: Short failsafe action
// @Description: The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero throttle if set to 2, or will change to FBWB if set to 4. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5(QRTL) or 20(RTL) are set.
// @Values: 0:CIRCLE/no change(if already in AUTO|GUIDED|LOITER),1:CIRCLE,2:FBWA at zero throttle,3:Disable,4:FBWB
// @User: Standard
GSCALAR(fs_action_short, "FS_SHORT_ACTN", FS_ACTION_SHORT_BESTGUESS),
// @Param: FS_SHORT_TIMEOUT
// @DisplayName: Short failsafe timeout
// @Description: The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds
// @Units: s
// @Range: 1 100
// @Increment: 0.5
// @User: Standard
GSCALAR(fs_timeout_short, "FS_SHORT_TIMEOUT", 1.5f),
// @Param: FS_LONG_ACTN
// @DisplayName: Long failsafe action
// @Description: The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO, unless it is in the middle of a landing sequence. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5 (QRTL) or 20(RTL) are set.
// @Values: 0:Continue,1:ReturnToLaunch,2:Glide,3:Deploy Parachute,4:Auto
// @User: Standard
GSCALAR(fs_action_long, "FS_LONG_ACTN", FS_ACTION_LONG_CONTINUE),
// @Param: FS_LONG_TIMEOUT
// @DisplayName: Long failsafe timeout
// @Description: The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds.
// @Units: s
// @Range: 1 300
// @Increment: 0.5
// @User: Standard
GSCALAR(fs_timeout_long, "FS_LONG_TIMEOUT", 5),
// @Param: FS_GCS_ENABL
// @DisplayName: GCS failsafe enable
// @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Setting FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.
// @Values: 0:Disabled,1:Heartbeat,2:HeartbeatAndREMRSSI,3:HeartbeatAndAUTO
// @User: Standard
GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_FAILSAFE_OFF),
// @Param: FLTMODE_CH
// @DisplayName: Flightmode channel
// @Description: RC Channel to use for flight mode control
// @Values: 0:Disabled,1:Channel 1,2:Channel 2,3:Channel 3,4:Channel 4,5:Channel 5,6:Channel 6,7:Channel 7,8:Channel 8,9:Channel 9,10:Channel 10,11:Channel 11,12:Channel 12,13:Channel 13,14:Channel 14,15:Channel 15,16:Channel 16
// @User: Advanced
GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL),
// @Param: FLTMODE1
// @DisplayName: FlightMode1
// @Description: Flight mode for switch position 1 (910 to 1230 and above 2049)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,13:TAKEOFF,14:AVOID_ADSB,15:Guided,17:QSTABILIZE,18:QHOVER,19:QLOITER,20:QLAND,21:QRTL,22:QAUTOTUNE,23:QACRO,24:THERMAL,25:Loiter to QLand
// @User: Standard
GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
// @Param: FLTMODE2
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: FlightMode2
// @Description: Flight mode for switch position 2 (1231 to 1360)
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
// @Param: FLTMODE3
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: FlightMode3
// @Description: Flight mode for switch position 3 (1361 to 1490)
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
// @Param: FLTMODE4
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: FlightMode4
// @Description: Flight mode for switch position 4 (1491 to 1620)
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
// @Param: FLTMODE5
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: FlightMode5
// @Description: Flight mode for switch position 5 (1621 to 1749)
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
// @Param: FLTMODE6
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: FlightMode6
// @Description: Flight mode for switch position 6 (1750 to 2049)
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
// @Param: INITIAL_MODE
// @DisplayName: Initial flight 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.
// @CopyValuesFrom: FLTMODE1
// @User: Advanced
GSCALAR(initial_mode, "INITIAL_MODE", Mode::Number::MANUAL),
// @Param: ROLL_LIMIT_DEG
// @DisplayName: Maximum Bank Angle
// @Description: Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.
// @Units: deg
// @Range: 0 90
// @Increment: 0.1
// @User: Standard
ASCALAR(roll_limit, "ROLL_LIMIT_DEG", ROLL_LIMIT_DEG),
// @Param: PTCH_LIM_MAX_DEG
// @DisplayName: Maximum Pitch Angle
// @Description: Maximum pitch up angle commanded in modes with stabilized limits.
// @Units: deg
// @Range: 0 90
// @Increment: 10
// @User: Standard
ASCALAR(pitch_limit_max, "PTCH_LIM_MAX_DEG", PITCH_MAX),
// @Param: PTCH_LIM_MIN_DEG
// @DisplayName: Minimum Pitch Angle
// @Description: Maximum pitch down angle commanded in modes with stabilized limits
// @Units: cdeg
// @Range: -90 0
// @Increment: 10
// @User: Standard
ASCALAR(pitch_limit_min, "PTCH_LIM_MIN_DEG", PITCH_MIN),
// @Param: ACRO_ROLL_RATE
// @DisplayName: ACRO mode roll rate
// @Description: The maximum roll rate at full stick deflection in ACRO mode
// @Units: deg/s
// @Range: 10 500
// @Increment: 1
// @User: Standard
GSCALAR(acro_roll_rate, "ACRO_ROLL_RATE", 180),
// @Param: ACRO_PITCH_RATE
// @DisplayName: ACRO mode pitch rate
// @Description: The maximum pitch rate at full stick deflection in ACRO mode
// @Units: deg/s
// @Range: 10 500
// @Increment: 1
// @User: Standard
GSCALAR(acro_pitch_rate, "ACRO_PITCH_RATE", 180),
// @Param: ACRO_YAW_RATE
// @DisplayName: ACRO mode yaw rate
// @Description: The maximum yaw rate at full stick deflection in ACRO mode. If this is zero then rudder is directly controlled by rudder stick input. This option is only available if you also set YAW_RATE_ENABLE to 1.
// @Units: deg/s
// @Range: 0 500
// @Increment: 1
// @User: Standard
GSCALAR(acro_yaw_rate, "ACRO_YAW_RATE", 0),
// @Param: ACRO_LOCKING
// @DisplayName: ACRO mode attitude locking
// @Description: Enable attitude locking when sticks are released. If set to 2 then quaternion based locking is used if the yaw rate controller is enabled. Quaternion based locking will hold any attitude
// @Values: 0:Disabled,1:Enabled,2:Quaternion
// @User: Standard
GSCALAR(acro_locking, "ACRO_LOCKING", 0),
// @Param: GROUND_STEER_ALT
// @DisplayName: Ground steer altitude
// @Description: Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.
// @Units: m
// @Range: -100 100
// @Increment: 0.1
// @User: Standard
GSCALAR(ground_steer_alt, "GROUND_STEER_ALT", 0),
// @Param: GROUND_STEER_DPS
// @DisplayName: Ground steer rate
// @Description: Ground steering rate in degrees per second for full rudder stick deflection
// @Units: deg/s
// @Range: 10 360
// @Increment: 1
// @User: Advanced
GSCALAR(ground_steer_dps, "GROUND_STEER_DPS", 90),
// @Param: MIXING_GAIN
// @DisplayName: Mixing Gain
// @Description: The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.
// @Range: 0.5 1.2
// @User: Standard
GSCALAR(mixing_gain, "MIXING_GAIN", 0.5f),
// @Param: RUDDER_ONLY
// @DisplayName: Rudder only aircraft
// @Description: Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(rudder_only, "RUDDER_ONLY", 0),
// @Param: MIXING_OFFSET
// @DisplayName: Mixing Offset
// @Description: The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response.
// @Units: d%
// @Range: -1000 1000
// @User: Standard
GSCALAR(mixing_offset, "MIXING_OFFSET", 0),
// @Param: DSPOILR_RUD_RATE
// @DisplayName: Differential spoilers rudder rate
// @Description: Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).
// @Units: %
// @Range: -100 100
// @User: Standard
GSCALAR(dspoiler_rud_rate, "DSPOILR_RUD_RATE", DSPOILR_RUD_RATE_DEFAULT),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: 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 basic log types by setting this to 65535.
// @Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:Performance,4:Control Tuning,5:Navigation Tuning,7:IMU,8:Mission Commands,9:Battery Monitor,10:Compass,11:TECS,12:Camera,13:RC Input-Output,14:Rangefinder,19:Raw IMU,20:Fullrate Attitude,21:Video Stabilization,22:Fullrate Notch
// @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Param: SCALING_SPEED
// @DisplayName: speed used for speed scaling calculations
// @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values
// @Units: m/s
// @Range: 0 50
// @Increment: 0.1
// @User: Advanced
GSCALAR(scaling_speed, "SCALING_SPEED", SCALING_SPEED),
// @Param: MIN_GROUNDSPEED
// @DisplayName: Minimum ground speed
// @Description: Minimum ground speed in cm/s when under airspeed control
// @Units: m/s
// @User: Advanced
ASCALAR(min_groundspeed, "MIN_GROUNDSPEED", MIN_GROUNDSPEED),
// @Param: PTCH_TRIM_DEG
// @DisplayName: Pitch angle offset
// @Description: Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter.
// @Units: deg
// @Range: -45 45
// @User: Standard
GSCALAR(pitch_trim, "PTCH_TRIM_DEG", 0.0f),
// @Param: RTL_ALTITUDE
// @DisplayName: RTL altitude
// @Description: Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home.
// @Units: m
// @User: Standard
GSCALAR(RTL_altitude, "RTL_ALTITUDE", ALT_HOLD_HOME),
// @Param: CRUISE_ALT_FLOOR
// @DisplayName: Minimum altitude for FBWB and CRUISE mode
// @Description: This is the minimum altitude in meters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.
// @Units: m
// @User: Standard
GSCALAR(cruise_alt_floor, "CRUISE_ALT_FLOOR", CRUISE_ALT_FLOOR),
// @Param: FLAP_1_PERCNT
// @DisplayName: Flap 1 percentage
// @Description: The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps
// @Range: 0 100
// @Increment: 1
// @Units: %
// @User: Advanced
GSCALAR(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT),
// @Param: FLAP_1_SPEED
// @DisplayName: Flap 1 speed
// @Description: The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
// @Range: 0 100
// @Increment: 1
// @Units: m/s
// @User: Advanced
GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_1_SPEED),
// @Param: FLAP_2_PERCNT
// @DisplayName: Flap 2 percentage
// @Description: The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps
// @Range: 0 100
// @Units: %
// @Increment: 1
// @User: Advanced
GSCALAR(flap_2_percent, "FLAP_2_PERCNT", FLAP_2_PERCENT),
// @Param: FLAP_2_SPEED
// @DisplayName: Flap 2 speed
// @Description: The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
// @Range: 0 100
// @Units: m/s
// @Increment: 1
// @User: Advanced
GSCALAR(flap_2_speed, "FLAP_2_SPEED", FLAP_2_SPEED),
#if HAL_WITH_IO_MCU
// @Param: OVERRIDE_CHAN
// @DisplayName: IO override channel
// @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. 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 the FMU will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU.
// @Range: 0 16
// @Increment: 1
// @User: Advanced
GSCALAR(override_channel, "OVERRIDE_CHAN", 0),
#endif
// @Param: RTL_AUTOLAND
// @DisplayName: RTL auto land
// @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. If this is set to 0 and there is a DO_LAND_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around without it changing RTL behaviour. For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).
// @Values: 0:Disable,1:Fly HOME then land,2:Go directly to landing sequence, 3:OnlyForGoAround
// @User: Standard
GSCALAR(rtl_autoland, "RTL_AUTOLAND", float(RtlAutoland::RTL_DISABLE)),
// @Param: CRASH_ACC_THRESH
// @DisplayName: Crash Deceleration Threshold
// @Description: X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.
// @Units: m/s/s
// @Range: 10 127
// @Increment: 1
// @User: Advanced
GSCALAR(crash_accel_threshold, "CRASH_ACC_THRESH", 0),
// @Param: CRASH_DETECT
// @DisplayName: Crash Detection
// @Description: Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Set to 0 to disable crash detection.
// @Values: 0:Disabled
// @Bitmask: 0:Disarm
// @User: Advanced
ASCALAR(crash_detection_enable, "CRASH_DETECT", 0),
// @Group: BARO
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT(barometer, "BARO", AP_Baro),
// GPS driver
// @Group: GPS
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS", AP_GPS),
#if AP_CAMERA_ENABLED
// @Group: CAM
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GOBJECT(camera, "CAM", AP_Camera),
#endif
// @Group: ARMING_
// @Path: AP_Arming.cpp,../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming_Plane),
#if AP_RELAY_ENABLED
// @Group: RELAY
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY", AP_Relay),
#endif
#if PARACHUTE == ENABLED
// @Group: CHUTE_
// @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
GOBJECT(parachute, "CHUTE_", AP_Parachute),
#endif
// @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
GOBJECT(rangefinder, "RNGFND", RangeFinder),
// @Param: RNGFND_LANDING
// @DisplayName: Enable rangefinder for landing
// @Description: This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(rangefinder_landing, "RNGFND_LANDING", 0),
#if AP_TERRAIN_AVAILABLE
// @Group: TERRAIN_
// @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
GOBJECT(terrain, "TERRAIN_", AP_Terrain),
#endif
#if HAL_ADSB_ENABLED
// @Group: ADSB_
// @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
GOBJECT(adsb, "ADSB_", AP_ADSB),
// @Group: AVD_
// @Path: ../libraries/AP_Avoidance/AP_Avoidance.cpp
GOBJECT(avoidance_adsb, "AVD_", AP_Avoidance_Plane),
#endif
#if HAL_QUADPLANE_ENABLED
// @Group: Q_
// @Path: quadplane.cpp
GOBJECT(quadplane, "Q_", QuadPlane),
#endif
#if AP_TUNING_ENABLED
// @Group: TUNE_
// @Path: tuning.cpp,../libraries/AP_Tuning/AP_Tuning.cpp
GOBJECT(tuning, "TUNE_", AP_Tuning_Plane),
#endif
#if HAL_QUADPLANE_ENABLED
// @Group: Q_A_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
{ "Q_A_", (const void *)&plane.quadplane.attitude_control,
{group_info : AC_AttitudeControl_Multi::var_info}, AP_PARAM_FLAG_POINTER,
Parameters::k_param_q_attitude_control, AP_PARAM_GROUP },
#endif
// @Group: RLL
// @Path: ../libraries/APM_Control/AP_RollController.cpp
GOBJECT(rollController, "RLL", AP_RollController),
// @Group: PTCH
// @Path: ../libraries/APM_Control/AP_PitchController.cpp
GOBJECT(pitchController, "PTCH", AP_PitchController),
// @Group: YAW
// @Path: ../libraries/APM_Control/AP_YawController.cpp
GOBJECT(yawController, "YAW", AP_YawController),
// @Group: STEER2SRV_
// @Path: ../libraries/APM_Control/AP_SteerController.cpp
GOBJECT(steerController, "STEER2SRV_", AP_SteerController),
// variables not in the g class which contain EEPROM saved variables
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
GOBJECT(scheduler, "SCHED_", AP_Scheduler),
// @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper),
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[0], gcs0, "SR0_", GCS_MAVLINK_Parameters),
#if MAVLINK_COMM_NUM_BUFFERS >= 2
// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[1], gcs1, "SR1_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 3
// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[2], gcs2, "SR2_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 4
// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[3], gcs3, "SR3_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 5
// @Group: SR4_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[4], gcs4, "SR4_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 6
// @Group: SR5_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[5], gcs5, "SR5_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 7
// @Group: SR6_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[6], gcs6, "SR6_", GCS_MAVLINK_Parameters),
#endif
// @Group: INS
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT(ins, "INS", AP_InertialSensor),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS),
// Airspeed was here
// @Group: NAVL1_
// @Path: ../libraries/AP_L1_Control/AP_L1_Control.cpp
GOBJECT(L1_controller, "NAVL1_", AP_L1_Control),
// @Group: TECS_
// @Path: ../libraries/AP_TECS/AP_TECS.cpp
GOBJECT(TECS_controller, "TECS_", AP_TECS),
#if HAL_MOUNT_ENABLED
// @Group: MNT
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount, "MNT", AP_Mount),
#endif
// @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor),
// @Group: BRD_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
// @Group: CAN_
// @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
GOBJECT(can_mgr, "CAN_", AP_CANManager),
#endif
#if AP_SIM_ENABLED
// @Group: SIM_
// @Path: ../libraries/SITL/SITL.cpp
GOBJECT(sitl, "SIM_", SITL::SIM),
#endif
#if AP_ADVANCEDFAILSAFE_ENABLED
// @Group: AFS_
// @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
GOBJECT(afs, "AFS_", AP_AdvancedFailsafe),
#endif
#if AP_OPTICALFLOW_ENABLED
// @Group: FLOW
// @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
GOBJECT(optflow, "FLOW", AP_OpticalFlow),
#endif
// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECT(mission, "MIS_", AP_Mission),
#if HAL_RALLY_ENABLED
// @Group: RALLY_
// @Path: ../libraries/AP_Rally/AP_Rally.cpp
GOBJECT(rally, "RALLY_", AP_Rally),
#endif
#if HAL_NAVEKF2_AVAILABLE
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
#endif
#if HAL_NAVEKF3_AVAILABLE
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
#if AP_RPM_ENABLED
// @Group: RPM
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT(rpm_sensor, "RPM", AP_RPM),
#endif
// @Group: RSSI_
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
GOBJECT(rssi, "RSSI_", AP_RSSI),
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
// @Group: LAND_
// @Path: ../libraries/AP_Landing/AP_Landing.cpp
GOBJECT(landing, "LAND_", AP_Landing),
#if OSD_ENABLED || OSD_PARAM_ENABLED
// @Group: OSD
// @Path: ../libraries/AP_OSD/AP_OSD.cpp
GOBJECT(osd, "OSD", AP_OSD),
#endif
// @Group: TKOFF_
// @Path: mode_takeoff.cpp
GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff),
// @Group:
// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
PARAM_VEHICLE_INFO,